diff --git "a/MP3D/habitatweb/train/S9hNv5qa7GM.json" "b/MP3D/habitatweb/train/S9hNv5qa7GM.json" new file mode 100644--- /dev/null +++ "b/MP3D/habitatweb/train/S9hNv5qa7GM.json" @@ -0,0 +1,184184 @@ +[ + { + "S9hNv5qa7GM.glb_cushion": [ + { + "position": [ + -2.58123, + 0.69883, + -2.0425 + ], + "radius": null, + "object_id": 370, + "object_name": "0_15_370", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "370411a65c3d4dc8bd475805ad0f4195", + "observable_viewpoint_ids": [ + "0_edge_146_newN_2", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195" + ] + }, + { + "position": [ + -3.00888, + 0.95614, + -1.60806 + ], + "radius": null, + "object_id": 369, + "object_name": "0_15_369", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "2dea9de9cf5742398b17c3d6208bb56a", + "observable_viewpoint_ids": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "eb3364f96bed4877b27ce5e0cfa32702" + ] + }, + { + "position": [ + -2.87794, + 0.65801, + -1.97829 + ], + "radius": null, + "object_id": 371, + "object_name": "0_15_371", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_146_newN_2", + "observable_viewpoint_ids": [ + "370411a65c3d4dc8bd475805ad0f4195", + "eb3364f96bed4877b27ce5e0cfa32702" + ] + }, + { + "position": [ + -3.26829, + 0.66794, + -1.94419 + ], + "radius": null, + "object_id": 372, + "object_name": "0_15_372", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_146_newN_1", + "observable_viewpoint_ids": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_0" + ] + }, + { + "position": [ + -2.39536, + 0.7223, + -4.60564 + ], + "radius": null, + "object_id": 364, + "object_name": "0_15_364", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_146_newN_2", + "observable_viewpoint_ids": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_146_newN_2", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195" + ] + }, + { + "position": [ + -3.02885, + 0.74854, + -4.74942 + ], + "radius": null, + "object_id": 348, + "object_name": "0_15_348", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_146_newN_1", + "observable_viewpoint_ids": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_2", + "0_edge_66_newN_0", + "0_edge_146_newN_0", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "0_edge_146_newN_1", + "370411a65c3d4dc8bd475805ad0f4195" + ] + }, + { + "position": [ + -2.66495, + 0.72627, + -4.60474 + ], + "radius": null, + "object_id": 360, + "object_name": "0_15_360", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_146_newN_2", + "observable_viewpoint_ids": [ + "0_edge_146_newN_2", + "0_edge_147_newN_1", + "0_edge_147_newN_0" + ] + }, + { + "position": [ + -4.00541, + 0.69612, + -2.02532 + ], + "radius": null, + "object_id": 365, + "object_name": "0_15_365", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "eb3364f96bed4877b27ce5e0cfa32702", + "observable_viewpoint_ids": [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_0" + ] + }, + { + "position": [ + -1.03025, + 0.6848, + -5.9605 + ], + "radius": null, + "object_id": 366, + "object_name": "0_15_366", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_147_newN_0", + "observable_viewpoint_ids": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_1", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_0" + ] + }, + { + "position": [ + -11.3057, + 0.67112, + 4.0086 + ], + "radius": null, + "object_id": 398, + "object_name": "0_16_398", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_204_newN_0", + "observable_viewpoint_ids": [ + "0_edge_204_newN_1", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_102_newN_0", + "0_edge_204_newN_0", + "c0baa7759b714fa794ca1fabbd96a96b" + ] + }, + { + "position": [ + -3.52487, + 0.72666, + -4.87309 + ], + "radius": null, + "object_id": 352, + "object_name": "0_15_352", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_146_newN_1", + "observable_viewpoint_ids": [ + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_146_newN_0", + "0_edge_147_newN_0", + "0_edge_146_newN_1" + ] + }, + { + "position": [ + -12.2445, + 0.65722, + 3.98256 + ], + "radius": null, + "object_id": 387, + "object_name": "0_16_387", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_102_newN_0", + "observable_viewpoint_ids": [ + "0_edge_102_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d" + ] + }, + { + "position": [ + -11.059, + 0.65016, + 6.66677 + ], + "radius": null, + "object_id": 403, + "object_name": "0_16_403", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_157_newN_2", + "observable_viewpoint_ids": [ + "0_edge_157_newN_2", + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b" + ] + }, + { + "position": [ + -12.5555, + 0.69286, + 3.98787 + ], + "radius": null, + "object_id": 405, + "object_name": "0_16_405", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "45af7750dab04ee9931d8c9a1ce9ee7d", + "observable_viewpoint_ids": [ + "0_edge_102_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d" + ] + }, + { + "position": [ + -11.3069, + 0.67505, + 6.68868 + ], + "radius": null, + "object_id": 406, + "object_name": "0_16_406", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_157_newN_2", + "observable_viewpoint_ids": [ + "0_edge_157_newN_2", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "a844e7823fe4425f96a265b8fc557cb7" + ] + }, + { + "position": [ + -3.79332, + 0.68883, + -4.55819 + ], + "radius": null, + "object_id": 357, + "object_name": "0_15_357", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_146_newN_1", + "observable_viewpoint_ids": [ + "0_edge_73_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_146_newN_0", + "0_edge_146_newN_1" + ] + }, + { + "position": [ + -4.94401, + 0.67807, + -5.80575 + ], + "radius": null, + "object_id": 358, + "object_name": "0_15_358", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_73_newN_0", + "observable_viewpoint_ids": [ + "0_edge_66_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "4e1ad142e5844d21a376040600184d9a" + ] + }, + { + "position": [ + -11.9196, + 0.68188, + -4.91167 + ], + "radius": null, + "object_id": 291, + "object_name": "0_13_291", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "observable_viewpoint_ids": [ + "0_edge_210_newN_0", + "dd6ae3e4669546a4a7fd78186723d12f", + "65683a5cc3564769947019eb7e63ef0d", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636" + ] + }, + { + "position": [ + -11.4814, + 0.87358, + -6.76472 + ], + "radius": null, + "object_id": 281, + "object_name": "0_13_281", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_57_newN_1", + "observable_viewpoint_ids": [ + "0_edge_210_newN_0", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "dd6ae3e4669546a4a7fd78186723d12f", + "65683a5cc3564769947019eb7e63ef0d" + ] + }, + { + "position": [ + -12.3118, + 0.68837, + 6.62751 + ], + "radius": null, + "object_id": 400, + "object_name": "0_16_400", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_157_newN_1", + "observable_viewpoint_ids": [ + "0_edge_157_newN_2", + "0_edge_157_newN_1", + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "position": [ + -8.56341, + 3.77487, + -5.93443 + ], + "radius": null, + "object_id": 87, + "object_name": "1_3_87", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "6a876090f6f34eb59bc03a68df7137b5", + "observable_viewpoint_ids": [ + "12bce16a8b8e424bba0742b82a46352b", + "6a876090f6f34eb59bc03a68df7137b5", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_50_newN_0", + "0_edge_169_newN_1" + ] + }, + { + "position": [ + -8.34859, + 3.82061, + -5.61491 + ], + "radius": null, + "object_id": 86, + "object_name": "1_3_86", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "6a876090f6f34eb59bc03a68df7137b5", + "observable_viewpoint_ids": [ + "12bce16a8b8e424bba0742b82a46352b", + "6a876090f6f34eb59bc03a68df7137b5", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_50_newN_0" + ] + }, + { + "position": [ + -8.64296, + 3.73808, + -5.76036 + ], + "radius": null, + "object_id": 93, + "object_name": "1_3_93", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "6a876090f6f34eb59bc03a68df7137b5", + "observable_viewpoint_ids": [ + "12bce16a8b8e424bba0742b82a46352b", + "6a876090f6f34eb59bc03a68df7137b5", + "0_edge_169_newN_0", + "0_edge_50_newN_0", + "0_edge_169_newN_1" + ] + }, + { + "position": [ + -1.42955, + 3.59178, + 0.46173 + ], + "radius": null, + "object_id": 129, + "object_name": "1_5_129", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "080a334ceb144054b12c4ed7847b8f71", + "observable_viewpoint_ids": [ + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "f3dd1c323fde4f6fa5056433cdd92fa7", + "743e6d37beae4b6482a43ae41e634e67" + ] + }, + { + "position": [ + -13.6331, + 3.91511, + 4.34442 + ], + "radius": null, + "object_id": 10, + "object_name": "1_0_10", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "81df67c58e324caca152f29eb64f6993", + "observable_viewpoint_ids": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "374e664207754a3b95a7d8010e122296" + ] + }, + { + "position": [ + -7.74236, + 3.71783, + 1.57146 + ], + "radius": null, + "object_id": 188, + "object_name": "1_8_188", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_161_newN_0", + "observable_viewpoint_ids": [ + "d339130a5534437da266a71435143314", + "9001b330086e4aa69799729560e6dca0", + "0_edge_110_newN_0", + "c4fc538718cc4918884d2040ce523a5f" + ] + }, + { + "position": [ + -7.45519, + 3.62648, + 2.01137 + ], + "radius": null, + "object_id": 181, + "object_name": "1_8_181", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_161_newN_0", + "observable_viewpoint_ids": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "d339130a5534437da266a71435143314", + "0_edge_161_newN_0", + "0_edge_77_newN_0", + "c4fc538718cc4918884d2040ce523a5f" + ] + }, + { + "position": [ + -8.01973, + 3.72369, + 1.99508 + ], + "radius": null, + "object_id": 167, + "object_name": "1_8_167", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "1e9bcf7676d44f2691efdeadc0d88d76", + "observable_viewpoint_ids": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f" + ] + }, + { + "position": [ + -8.63494, + 3.74134, + -6.12311 + ], + "radius": null, + "object_id": 95, + "object_name": "1_3_95", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "6a876090f6f34eb59bc03a68df7137b5", + "observable_viewpoint_ids": [ + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_0", + "6a876090f6f34eb59bc03a68df7137b5", + "0_edge_50_newN_0" + ] + }, + { + "position": [ + -8.34046, + 3.91473, + -6.15952 + ], + "radius": null, + "object_id": 96, + "object_name": "1_3_96", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "6a876090f6f34eb59bc03a68df7137b5", + "observable_viewpoint_ids": [ + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_0", + "6a876090f6f34eb59bc03a68df7137b5", + "0_edge_50_newN_0" + ] + }, + { + "position": [ + -7.62141, + 3.70534, + 2.36889 + ], + "radius": null, + "object_id": 190, + "object_name": "1_8_190", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_77_newN_0", + "observable_viewpoint_ids": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + "0_edge_161_newN_0" + ] + }, + { + "position": [ + -7.81805, + 3.72031, + 2.19276 + ], + "radius": null, + "object_id": 179, + "object_name": "1_8_179", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_77_newN_0", + "observable_viewpoint_ids": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + "0_edge_161_newN_0" + ] + }, + { + "position": [ + -8.27223, + 3.72097, + 2.25394 + ], + "radius": null, + "object_id": 182, + "object_name": "1_8_182", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "1e9bcf7676d44f2691efdeadc0d88d76", + "observable_viewpoint_ids": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0" + ] + }, + { + "position": [ + -0.79542, + 3.61179, + 0.39998 + ], + "radius": null, + "object_id": 124, + "object_name": "1_5_124", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "f3dd1c323fde4f6fa5056433cdd92fa7", + "observable_viewpoint_ids": [ + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "f3dd1c323fde4f6fa5056433cdd92fa7", + "743e6d37beae4b6482a43ae41e634e67" + ] + }, + { + "position": [ + -0.8594, + 3.71233, + 0.59824 + ], + "radius": null, + "object_id": 135, + "object_name": "1_5_135", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "f3dd1c323fde4f6fa5056433cdd92fa7", + "observable_viewpoint_ids": [ + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "f3dd1c323fde4f6fa5056433cdd92fa7" + ] + }, + { + "position": [ + -1.0981, + 3.64023, + 0.30722 + ], + "radius": null, + "object_id": 132, + "object_name": "1_5_132", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "f3dd1c323fde4f6fa5056433cdd92fa7", + "observable_viewpoint_ids": [ + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "f3dd1c323fde4f6fa5056433cdd92fa7", + "743e6d37beae4b6482a43ae41e634e67" + ] + }, + { + "position": [ + -8.86177, + 3.71459, + -5.97305 + ], + "radius": null, + "object_id": 98, + "object_name": "1_3_98", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "6a876090f6f34eb59bc03a68df7137b5", + "observable_viewpoint_ids": [ + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1", + "0_edge_50_newN_0" + ] + }, + { + "all_observation_viewpoint_ids": [ + "0_edge_157_newN_2", + "0_edge_73_newN_0", + "6a876090f6f34eb59bc03a68df7137b5", + "080a334ceb144054b12c4ed7847b8f71", + "0_edge_66_newN_0", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "0_edge_169_newN_0", + "f3dd1c323fde4f6fa5056433cdd92fa7", + "0_edge_147_newN_0", + "374e664207754a3b95a7d8010e122296", + "0_edge_204_newN_0", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_30_newN_0", + "c0baa7759b714fa794ca1fabbd96a96b", + "84928b00abef4a8489bcaa2ce410d1e5", + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_157_newN_1", + "723a213fbaa847f2a44feac9246fd7b1", + "674b3b6705604a4c8b89182edee11e54", + "0_edge_102_newN_0", + "2c449dc925de472ca31124feca25a01a", + "2dea9de9cf5742398b17c3d6208bb56a", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_147_newN_1", + "9001b330086e4aa69799729560e6dca0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "dd6ae3e4669546a4a7fd78186723d12f", + "eb3364f96bed4877b27ce5e0cfa32702", + "4e1ad142e5844d21a376040600184d9a", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_153_newN_2", + "d339130a5534437da266a71435143314", + "0_edge_146_newN_2", + "0_edge_146_newN_1", + "0_edge_50_newN_0", + "0_edge_157_newN_0", + "0_edge_169_newN_1", + "81df67c58e324caca152f29eb64f6993", + "0_edge_110_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_204_newN_1", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_210_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "65683a5cc3564769947019eb7e63ef0d", + "a844e7823fe4425f96a265b8fc557cb7", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_146_newN_0", + "743e6d37beae4b6482a43ae41e634e67", + "0_edge_161_newN_0", + "0_edge_77_newN_0", + "370411a65c3d4dc8bd475805ad0f4195" + ] + } + ], + "S9hNv5qa7GM.glb_chest_of_drawers": [ + { + "position": [ + -8.22315, + 3.26145, + -4.93467 + ], + "radius": null, + "object_id": 79, + "object_name": "1_3_79", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "2c449dc925de472ca31124feca25a01a", + "observable_viewpoint_ids": [ + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ] + }, + { + "position": [ + -10.8035, + 0.38861, + 4.18936 + ], + "radius": null, + "object_id": 399, + "object_name": "0_16_399", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_204_newN_1", + "observable_viewpoint_ids": [ + "0_edge_204_newN_1", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_102_newN_0", + "0_edge_204_newN_0", + "c0baa7759b714fa794ca1fabbd96a96b" + ] + }, + { + "position": [ + -13.8535, + 3.2987, + 3.11418 + ], + "radius": null, + "object_id": 11, + "object_name": "1_0_11", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "374e664207754a3b95a7d8010e122296", + "observable_viewpoint_ids": [ + "374e664207754a3b95a7d8010e122296" + ] + }, + { + "position": [ + -8.26633, + 3.23278, + -7.07519 + ], + "radius": null, + "object_id": 78, + "object_name": "1_3_78", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "6a876090f6f34eb59bc03a68df7137b5", + "observable_viewpoint_ids": [ + "6a876090f6f34eb59bc03a68df7137b5", + "0_edge_50_newN_0" + ] + }, + { + "position": [ + -12.4463, + 0.40595, + 0.09878 + ], + "radius": null, + "object_id": 260, + "object_name": "0_12_260", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "8b55e4f095374cfe8ddb0fda0f0dfa02", + "observable_viewpoint_ids": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "0_edge_2_newN_1", + "0_edge_2_newN_0" + ] + }, + { + "all_observation_viewpoint_ids": [ + "0_edge_204_newN_1", + "12bce16a8b8e424bba0742b82a46352b", + "32fb55017460457cbe0b8d1790a54786", + "0_edge_2_newN_1", + "6a876090f6f34eb59bc03a68df7137b5", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_102_newN_0", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "374e664207754a3b95a7d8010e122296", + "0_edge_204_newN_0", + "0_edge_2_newN_0", + "0_edge_50_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "c0baa7759b714fa794ca1fabbd96a96b" + ] + } + ], + "S9hNv5qa7GM.glb_picture": [ + { + "position": [ + -11.8636, + 1.23695, + 0.65741 + ], + "radius": null, + "object_id": 391, + "object_name": "0_16_391", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "3c5c466d4f64452a9e87c545d918c4eb", + "observable_viewpoint_ids": [ + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa" + ] + }, + { + "position": [ + -12.682, + 4.2532, + 0.58569 + ], + "radius": null, + "object_id": 41, + "object_name": "1_1_41", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "observable_viewpoint_ids": [ + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "position": [ + -11.6569, + 4.33357, + -7.71036 + ], + "radius": null, + "object_id": 92, + "object_name": "1_3_92", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "e5bdf109ceb745f1bf4d66447afa02da", + "observable_viewpoint_ids": [ + "e5bdf109ceb745f1bf4d66447afa02da" + ] + }, + { + "position": [ + -8.40222, + 1.47946, + 1.98777 + ], + "radius": null, + "object_id": 427, + "object_name": "0_17_427", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "673ae67937804c42b3c22e93efb5d069", + "observable_viewpoint_ids": [ + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ] + }, + { + "position": [ + -8.76085, + 4.28824, + -7.71993 + ], + "radius": null, + "object_id": 94, + "object_name": "1_3_94", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "6a876090f6f34eb59bc03a68df7137b5", + "observable_viewpoint_ids": [ + "6a876090f6f34eb59bc03a68df7137b5" + ] + }, + { + "position": [ + -11.7991, + 1.5356, + 0.62244 + ], + "radius": null, + "object_id": 397, + "object_name": "0_16_397", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "observable_viewpoint_ids": [ + "3c5c466d4f64452a9e87c545d918c4eb" + ] + }, + { + "position": [ + -8.2842, + 1.22122, + -0.88611 + ], + "radius": null, + "object_id": 315, + "object_name": "0_14_315", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "4545f7a0d918401ebccdb6716a5f1fce", + "observable_viewpoint_ids": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973" + ] + }, + { + "position": [ + -6.31973, + 1.44789, + -4.79973 + ], + "radius": null, + "object_id": 319, + "object_name": "0_14_319", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "observable_viewpoint_ids": [ + "5d82955e203d447a901929bc53deefd0" + ] + }, + { + "position": [ + -12.0561, + 4.42763, + 2.56099 + ], + "radius": null, + "object_id": 19, + "object_name": "1_0_19", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "374e664207754a3b95a7d8010e122296", + "observable_viewpoint_ids": [ + "374e664207754a3b95a7d8010e122296" + ] + }, + { + "all_observation_viewpoint_ids": [ + "e5bdf109ceb745f1bf4d66447afa02da", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a876090f6f34eb59bc03a68df7137b5", + "6fbfaa4207454c288739caceb9512fb5", + "374e664207754a3b95a7d8010e122296", + "673ae67937804c42b3c22e93efb5d069", + "4545f7a0d918401ebccdb6716a5f1fce", + "fea7a9db41944d76b258036b046d13aa", + "0cd0dd452a324496afd701e1c4b2e973", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "5d82955e203d447a901929bc53deefd0" + ] + } + ], + "S9hNv5qa7GM.glb_shower": [ + { + "position": [ + -14.0382, + 3.82111, + 1.54947 + ], + "radius": null, + "object_id": 23, + "object_name": "1_1_23", + "object_category": "shower", + "room_id": null, + "room_name": null, + "viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "observable_viewpoint_ids": [ + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "position": [ + -13.6052, + 3.98407, + 0.94911 + ], + "radius": null, + "object_id": 27, + "object_name": "1_1_27", + "object_category": "shower", + "room_id": null, + "room_name": null, + "viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "observable_viewpoint_ids": [ + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "position": [ + -13.6308, + 2.97986, + 1.49116 + ], + "radius": null, + "object_id": 43, + "object_name": "1_1_43", + "object_category": "shower", + "room_id": null, + "room_name": null, + "viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "observable_viewpoint_ids": [ + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "all_observation_viewpoint_ids": [ + "6fbfaa4207454c288739caceb9512fb5" + ] + } + ], + "S9hNv5qa7GM.glb_towel": [ + { + "position": [ + -11.5117, + 0.71067, + -0.86599 + ], + "radius": null, + "object_id": 266, + "object_name": "0_12_266", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_26_newN_1", + "observable_viewpoint_ids": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "position": [ + -13.8244, + 0.73592, + 0.34638 + ], + "radius": null, + "object_id": 256, + "object_name": "0_12_256", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_2_newN_1", + "observable_viewpoint_ids": [ + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "position": [ + -10.9416, + 4.04704, + 0.05817 + ], + "radius": null, + "object_id": 68, + "object_name": "1_2_68", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "625eb179629b45f280c01d3f6ec74b4f", + "observable_viewpoint_ids": [ + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "position": [ + -14.0101, + 3.55357, + -1.10306 + ], + "radius": null, + "object_id": 71, + "object_name": "1_2_71", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "0c2a97f049db4a429776940850fedf2e", + "observable_viewpoint_ids": [ + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "position": [ + -12.5004, + 3.69595, + 2.30973 + ], + "radius": null, + "object_id": 25, + "object_name": "1_1_25", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "observable_viewpoint_ids": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1" + ] + }, + { + "all_observation_viewpoint_ids": [ + "0_edge_2_newN_1", + "0c2a97f049db4a429776940850fedf2e", + "6fbfaa4207454c288739caceb9512fb5", + "dcced7b92f444b9a83bd7d54413fa486", + "0_edge_2_newN_0", + "0_edge_185_newN_1", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "322a5d3bbca1428fb92d39bfc6e603ee" + ] + } + ], + "S9hNv5qa7GM.glb_sink": [ + { + "position": [ + -0.91147, + 0.78148, + 4.34735 + ], + "radius": null, + "object_id": 214, + "object_name": "0_10_214", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "46631317e8684d3f98f0b9c7d3c51417", + "observable_viewpoint_ids": [ + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "6561b21dac894dfca3473db3037dbfad" + ] + }, + { + "position": [ + -4.08051, + 0.84558, + 3.61111 + ], + "radius": null, + "object_id": 415, + "object_name": "0_17_415", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "cdafd704291841daaa57ce008a95a06a", + "observable_viewpoint_ids": [ + "cdafd704291841daaa57ce008a95a06a", + "0_edge_182_newN_0", + "10_edge_195_newN_0" + ] + }, + { + "position": [ + 3.08683, + 0.90799, + 5.38232 + ], + "radius": null, + "object_id": 200, + "object_name": "0_9_200", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "2ea5348654d24115bba3dcdb21fa655e", + "observable_viewpoint_ids": [ + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c" + ] + }, + { + "position": [ + -12.3743, + 0.70318, + 0.07723 + ], + "radius": null, + "object_id": 267, + "object_name": "0_12_267", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "8b55e4f095374cfe8ddb0fda0f0dfa02", + "observable_viewpoint_ids": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "0_edge_2_newN_0" + ] + }, + { + "position": [ + -12.0744, + 3.73763, + 0.86718 + ], + "radius": null, + "object_id": 32, + "object_name": "1_1_32", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "observable_viewpoint_ids": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1" + ] + }, + { + "all_observation_viewpoint_ids": [ + "6fbfaa4207454c288739caceb9512fb5", + "1e597325e01d4a9aa332e92abc455414", + "cdafd704291841daaa57ce008a95a06a", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "2ea5348654d24115bba3dcdb21fa655e", + "46631317e8684d3f98f0b9c7d3c51417", + "0_edge_2_newN_0", + "5a89e430e6fb471189468fb44bbea75c", + "0_edge_185_newN_1", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + } + ], + "S9hNv5qa7GM.glb_cabinet": [ + { + "position": [ + -5.56353, + 0.47924, + 0.09785 + ], + "radius": null, + "object_id": 435, + "object_name": "0_17_435", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "8b219cad487e4091b7c29146f0224729", + "observable_viewpoint_ids": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "cdafd704291841daaa57ce008a95a06a", + "8b219cad487e4091b7c29146f0224729", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "0cd0dd452a324496afd701e1c4b2e973" + ] + }, + { + "position": [ + -11.4086, + 0.46736, + -2.58872 + ], + "radius": null, + "object_id": 280, + "object_name": "0_13_280", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_82_newN_0", + "observable_viewpoint_ids": [ + "5c3c7dfad2b3409182ecaf5535107dc5", + "0_edge_210_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "position": [ + -4.18803, + 0.45523, + 3.02644 + ], + "radius": null, + "object_id": 428, + "object_name": "0_17_428", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "cdafd704291841daaa57ce008a95a06a", + "observable_viewpoint_ids": [ + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "46631317e8684d3f98f0b9c7d3c51417", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "0_edge_207_newN_0" + ] + }, + { + "position": [ + -1.04561, + 0.43542, + 1.48536 + ], + "radius": null, + "object_id": 245, + "object_name": "0_11_245", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "bfd18e7fa8894c26a00f0cad55b31f76", + "observable_viewpoint_ids": [ + "0_edge_124_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_207_newN_0" + ] + }, + { + "position": [ + -2.21057, + 0.44993, + 1.78635 + ], + "radius": null, + "object_id": 437, + "object_name": "0_17_437", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "dfa246b0d1fe4f08953b20151cf951c3", + "observable_viewpoint_ids": [ + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0" + ] + }, + { + "position": [ + -10.1881, + 0.35731, + -7.06021 + ], + "radius": null, + "object_id": 285, + "object_name": "0_13_285", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "dd6ae3e4669546a4a7fd78186723d12f", + "observable_viewpoint_ids": [ + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "position": [ + 1.33167, + 1.18336, + 3.50555 + ], + "radius": null, + "object_id": 225, + "object_name": "0_11_225", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "b14dbfea048449aa8b8934cbf491a10a", + "observable_viewpoint_ids": [ + "0_edge_126_newN_0", + "1e597325e01d4a9aa332e92abc455414", + "2ea5348654d24115bba3dcdb21fa655e", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_207_newN_0" + ] + }, + { + "position": [ + -2.00066, + 1.81651, + 1.54851 + ], + "radius": null, + "object_id": 431, + "object_name": "0_17_431", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "dfa246b0d1fe4f08953b20151cf951c3", + "observable_viewpoint_ids": [ + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "0_edge_207_newN_0" + ] + }, + { + "position": [ + -12.8314, + 0.37215, + -7.04928 + ], + "radius": null, + "object_id": 289, + "object_name": "0_13_289", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "65683a5cc3564769947019eb7e63ef0d", + "observable_viewpoint_ids": [ + "65683a5cc3564769947019eb7e63ef0d" + ] + }, + { + "position": [ + -0.44699, + 0.53392, + 4.32196 + ], + "radius": null, + "object_id": 220, + "object_name": "0_10_220", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "1e597325e01d4a9aa332e92abc455414", + "observable_viewpoint_ids": [ + "1e597325e01d4a9aa332e92abc455414", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815" + ] + }, + { + "position": [ + 2.67244, + 1.18956, + 4.29431 + ], + "radius": null, + "object_id": 194, + "object_name": "0_9_194", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "2ea5348654d24115bba3dcdb21fa655e", + "observable_viewpoint_ids": [ + "2ea5348654d24115bba3dcdb21fa655e", + "b14dbfea048449aa8b8934cbf491a10a", + "5a89e430e6fb471189468fb44bbea75c" + ] + }, + { + "position": [ + -13.8531, + 1.24592, + 4.01677 + ], + "radius": null, + "object_id": 381, + "object_name": "0_16_381", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "45af7750dab04ee9931d8c9a1ce9ee7d", + "observable_viewpoint_ids": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d" + ] + }, + { + "position": [ + -13.2113, + 1.55028, + 0.30503 + ], + "radius": null, + "object_id": 253, + "object_name": "0_12_253", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_2_newN_1", + "observable_viewpoint_ids": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "0_edge_2_newN_1", + "0_edge_2_newN_0" + ] + }, + { + "position": [ + -11.7051, + 1.55042, + 0.33975 + ], + "radius": null, + "object_id": 264, + "object_name": "0_12_264", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "dcced7b92f444b9a83bd7d54413fa486", + "observable_viewpoint_ids": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "position": [ + -11.662, + 3.50279, + -1.94029 + ], + "radius": null, + "object_id": 49, + "object_name": "1_2_49", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "addb4d69f82243fb9a38c4d615651ba7", + "observable_viewpoint_ids": [ + "b8e48c0381644e26bee60d15b8afb47e", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "position": [ + -11.6627, + 3.3007, + -0.08273 + ], + "radius": null, + "object_id": 46, + "object_name": "1_2_46", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "dcced7b92f444b9a83bd7d54413fa486", + "observable_viewpoint_ids": [ + "b8e48c0381644e26bee60d15b8afb47e", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "position": [ + -13.6095, + 1.25008, + 7.20899 + ], + "radius": null, + "object_id": 380, + "object_name": "0_16_380", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "a844e7823fe4425f96a265b8fc557cb7", + "observable_viewpoint_ids": [ + "0_edge_157_newN_0", + "a844e7823fe4425f96a265b8fc557cb7" + ] + }, + { + "position": [ + 3.0886, + 0.47124, + 5.38785 + ], + "radius": null, + "object_id": 203, + "object_name": "0_9_203", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "2ea5348654d24115bba3dcdb21fa655e", + "observable_viewpoint_ids": [ + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c" + ] + }, + { + "position": [ + -12.2165, + 3.28035, + -5.78358 + ], + "radius": null, + "object_id": 88, + "object_name": "1_3_88", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "8388153c198e4e4fb75cd8d0fd96d8a2", + "observable_viewpoint_ids": [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_7_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_169_newN_1" + ] + }, + { + "position": [ + -12.196, + 3.33908, + 0.99096 + ], + "radius": null, + "object_id": 35, + "object_name": "1_1_35", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "observable_viewpoint_ids": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1" + ] + }, + { + "all_observation_viewpoint_ids": [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5e6c99e38014827b50ad33cd22e3c9d", + "6561b21dac894dfca3473db3037dbfad", + "1e597325e01d4a9aa332e92abc455414", + "dcced7b92f444b9a83bd7d54413fa486", + "0_edge_57_newN_1", + "8b219cad487e4091b7c29146f0224729", + "61cac35d27254f8b8edba9601c4f8b5f", + "db59566f6465453d88a27b5bcb19b096", + "0_edge_7_newN_1", + "71472b1d6fbf4d6192ed9917bff8dba7", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_2_newN_1", + "0c2a97f049db4a429776940850fedf2e", + "674b3b6705604a4c8b89182edee11e54", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "0cd0dd452a324496afd701e1c4b2e973", + "50629d10507840cba1ff155045d3f76b", + "0_edge_207_newN_0", + "0_edge_124_newN_0", + "dd6ae3e4669546a4a7fd78186723d12f", + "eb3364f96bed4877b27ce5e0cfa32702", + "b14dbfea048449aa8b8934cbf491a10a", + "46631317e8684d3f98f0b9c7d3c51417", + "0_edge_2_newN_0", + "0_edge_185_newN_1", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_157_newN_0", + "0_edge_169_newN_1", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_210_newN_0", + "addb4d69f82243fb9a38c4d615651ba7", + "0_edge_126_newN_0", + "65683a5cc3564769947019eb7e63ef0d", + "a844e7823fe4425f96a265b8fc557cb7", + "6fbfaa4207454c288739caceb9512fb5", + "2ea5348654d24115bba3dcdb21fa655e", + "cdafd704291841daaa57ce008a95a06a", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "dfa246b0d1fe4f08953b20151cf951c3", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "bfd18e7fa8894c26a00f0cad55b31f76", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + } + ], + "S9hNv5qa7GM.glb_toilet": [ + { + "position": [ + 2.39966, + 0.52726, + 5.94466 + ], + "radius": null, + "object_id": 197, + "object_name": "0_9_197", + "object_category": "toilet", + "room_id": null, + "room_name": null, + "viewpoint_id": "2ea5348654d24115bba3dcdb21fa655e", + "observable_viewpoint_ids": [ + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815" + ] + }, + { + "position": [ + -11.7976, + 0.33854, + -1.76203 + ], + "radius": null, + "object_id": 262, + "object_name": "0_12_262", + "object_category": "toilet", + "room_id": null, + "room_name": null, + "viewpoint_id": "8b55e4f095374cfe8ddb0fda0f0dfa02", + "observable_viewpoint_ids": [ + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "0_edge_2_newN_0" + ] + }, + { + "position": [ + -13.7228, + 3.24117, + -1.88381 + ], + "radius": null, + "object_id": 69, + "object_name": "1_2_69", + "object_category": "toilet", + "room_id": null, + "room_name": null, + "viewpoint_id": "0c2a97f049db4a429776940850fedf2e", + "observable_viewpoint_ids": [ + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7" + ] + }, + { + "position": [ + -12.6938, + 3.23756, + 0.92545 + ], + "radius": null, + "object_id": 37, + "object_name": "1_1_37", + "object_category": "toilet", + "room_id": null, + "room_name": null, + "viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "observable_viewpoint_ids": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1" + ] + }, + { + "all_observation_viewpoint_ids": [ + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "6fbfaa4207454c288739caceb9512fb5", + "2ea5348654d24115bba3dcdb21fa655e", + "0_edge_2_newN_0", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_185_newN_1", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + } + ], + "S9hNv5qa7GM.glb_bathtub": [ + { + "position": [ + -13.3217, + 3.14626, + -0.06122 + ], + "radius": null, + "object_id": 66, + "object_name": "1_2_66", + "object_category": "bathtub", + "room_id": null, + "room_name": null, + "viewpoint_id": "0c2a97f049db4a429776940850fedf2e", + "observable_viewpoint_ids": [ + "0c2a97f049db4a429776940850fedf2e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ] + }, + { + "position": [ + -14.9031, + 0.26598, + -0.9941 + ], + "radius": null, + "object_id": 251, + "object_name": "0_12_251", + "object_category": "bathtub", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_2_newN_0", + "observable_viewpoint_ids": [ + "61cac35d27254f8b8edba9601c4f8b5f", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0" + ] + }, + { + "all_observation_viewpoint_ids": [ + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "0_edge_2_newN_1", + "dcced7b92f444b9a83bd7d54413fa486", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "322a5d3bbca1428fb92d39bfc6e603ee" + ] + } + ], + "S9hNv5qa7GM.glb_bed": [ + { + "position": [ + -11.5303, + 0.80966, + -6.17509 + ], + "radius": null, + "object_id": 283, + "object_name": "0_13_283", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "dd6ae3e4669546a4a7fd78186723d12f", + "observable_viewpoint_ids": [ + "0_edge_210_newN_0", + "dd6ae3e4669546a4a7fd78186723d12f", + "65683a5cc3564769947019eb7e63ef0d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "dbcf0a37c275473094e1160770291679" + ] + }, + { + "position": [ + -9.13445, + 3.4436, + -5.94578 + ], + "radius": null, + "object_id": 81, + "object_name": "1_3_81", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "6a876090f6f34eb59bc03a68df7137b5", + "observable_viewpoint_ids": [ + "12bce16a8b8e424bba0742b82a46352b", + "f1b5f89d2b0a46449f374351c1579c80", + "6a876090f6f34eb59bc03a68df7137b5", + "0_edge_7_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1", + "0_edge_50_newN_0", + "0_edge_169_newN_1" + ] + }, + { + "position": [ + -7.23698, + 3.21814, + 1.96704 + ], + "radius": null, + "object_id": 163, + "object_name": "1_8_163", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_161_newN_0", + "observable_viewpoint_ids": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0_edge_161_newN_0", + "0_edge_77_newN_0", + "9001b330086e4aa69799729560e6dca0", + "0_edge_110_newN_0", + "c4fc538718cc4918884d2040ce523a5f" + ] + }, + { + "position": [ + -1.15796, + 3.29123, + -0.21462 + ], + "radius": null, + "object_id": 120, + "object_name": "1_5_120", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "f3dd1c323fde4f6fa5056433cdd92fa7", + "observable_viewpoint_ids": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "0_edge_122_newN_0", + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "f3dd1c323fde4f6fa5056433cdd92fa7", + "743e6d37beae4b6482a43ae41e634e67" + ] + }, + { + "all_observation_viewpoint_ids": [ + "f1b5f89d2b0a46449f374351c1579c80", + "6a876090f6f34eb59bc03a68df7137b5", + "080a334ceb144054b12c4ed7847b8f71", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "0_edge_169_newN_0", + "f3dd1c323fde4f6fa5056433cdd92fa7", + "0_edge_57_newN_1", + "dbcf0a37c275473094e1160770291679", + "0_edge_7_newN_1", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "2c449dc925de472ca31124feca25a01a", + "2dea9de9cf5742398b17c3d6208bb56a", + "9001b330086e4aa69799729560e6dca0", + "8f25ebb1c23d4fddb035eb336426d5fa", + "dd6ae3e4669546a4a7fd78186723d12f", + "d339130a5534437da266a71435143314", + "0_edge_50_newN_0", + "0_edge_169_newN_1", + "0_edge_110_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "1e9bcf7676d44f2691efdeadc0d88d76", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_210_newN_0", + "34a370fe2d1840e196a491db1e995e16", + "65683a5cc3564769947019eb7e63ef0d", + "0_edge_122_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "743e6d37beae4b6482a43ae41e634e67", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_161_newN_0", + "0_edge_77_newN_0" + ] + } + ], + "S9hNv5qa7GM.glb_seating": [ + { + "position": [ + -10.4647, + 3.18124, + -5.86846 + ], + "radius": null, + "object_id": 83, + "object_name": "1_3_83", + "object_category": "seating", + "room_id": null, + "room_name": null, + "viewpoint_id": "8388153c198e4e4fb75cd8d0fd96d8a2", + "observable_viewpoint_ids": [ + "0_edge_9_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "6a876090f6f34eb59bc03a68df7137b5", + "0_edge_169_newN_0", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1", + "0_edge_50_newN_0", + "0_edge_169_newN_1" + ] + }, + { + "position": [ + -11.5198, + 0.31281, + -4.88086 + ], + "radius": null, + "object_id": 279, + "object_name": "0_13_279", + "object_category": "seating", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_210_newN_0", + "observable_viewpoint_ids": [ + "0_edge_210_newN_0", + "dd6ae3e4669546a4a7fd78186723d12f", + "65683a5cc3564769947019eb7e63ef0d", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "0_edge_82_newN_0", + "dbcf0a37c275473094e1160770291679" + ] + }, + { + "all_observation_viewpoint_ids": [ + "f1b5f89d2b0a46449f374351c1579c80", + "6a876090f6f34eb59bc03a68df7137b5", + "0_edge_169_newN_0", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "0_edge_57_newN_1", + "dbcf0a37c275473094e1160770291679", + "0_edge_7_newN_1", + "0_edge_9_newN_0", + "e5bdf109ceb745f1bf4d66447afa02da", + "674b3b6705604a4c8b89182edee11e54", + "dd6ae3e4669546a4a7fd78186723d12f", + "0_edge_50_newN_0", + "0_edge_169_newN_1", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_210_newN_0", + "65683a5cc3564769947019eb7e63ef0d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ] + } + ], + "S9hNv5qa7GM.glb_plant": [ + { + "position": [ + -10.3346, + 1.04454, + 7.78378 + ], + "radius": null, + "object_id": 402, + "object_name": "0_16_402", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "d0a013ec97674abc8fd7657ea7844221", + "observable_viewpoint_ids": [ + "0_edge_157_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ] + }, + { + "position": [ + 1.44769, + 1.03627, + 1.40158 + ], + "radius": null, + "object_id": 243, + "object_name": "0_11_243", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_124_newN_0", + "observable_viewpoint_ids": [ + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76" + ] + }, + { + "position": [ + -12.3168, + 3.85966, + -5.19488 + ], + "radius": null, + "object_id": 85, + "object_name": "1_3_85", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_7_newN_1", + "observable_viewpoint_ids": [ + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_169_newN_1", + "0_edge_7_newN_1" + ] + }, + { + "all_observation_viewpoint_ids": [ + "0_edge_157_newN_2", + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + "0_edge_126_newN_0", + "0_edge_7_newN_1", + "d0a013ec97674abc8fd7657ea7844221", + "b14dbfea048449aa8b8934cbf491a10a", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_169_newN_1" + ] + } + ], + "S9hNv5qa7GM.glb_table": [ + { + "position": [ + -6.698, + 3.34325, + -0.58469 + ], + "radius": null, + "object_id": 140, + "object_name": "1_6_140", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "53672af2c15047818f2ead24a2370930", + "observable_viewpoint_ids": [ + "34a370fe2d1840e196a491db1e995e16", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "d339130a5534437da266a71435143314", + "3532b1e7ea1646848b710936d4696a5d", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "9001b330086e4aa69799729560e6dca0", + "0_edge_110_newN_0", + "c4fc538718cc4918884d2040ce523a5f" + ] + }, + { + "position": [ + -2.87989, + 3.10987, + -1.98839 + ], + "radius": null, + "object_id": 128, + "object_name": "1_5_128", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "2dea9de9cf5742398b17c3d6208bb56a", + "observable_viewpoint_ids": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "743e6d37beae4b6482a43ae41e634e67" + ] + }, + { + "position": [ + -7.59999, + 0.46128, + 0.77832 + ], + "radius": null, + "object_id": 426, + "object_name": "0_17_426", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "db59566f6465453d88a27b5bcb19b096", + "observable_viewpoint_ids": [ + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "0cd0dd452a324496afd701e1c4b2e973", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ] + }, + { + "position": [ + -2.16296, + 3.09189, + 0.55241 + ], + "radius": null, + "object_id": 115, + "object_name": "1_5_115", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "080a334ceb144054b12c4ed7847b8f71", + "observable_viewpoint_ids": [ + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ] + }, + { + "position": [ + -11.8463, + 0.34787, + 5.37106 + ], + "radius": null, + "object_id": 404, + "object_name": "0_16_404", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_157_newN_1", + "observable_viewpoint_ids": [ + "0_edge_157_newN_2", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "position": [ + -8.17806, + 3.33943, + 0.81624 + ], + "radius": null, + "object_id": 174, + "object_name": "1_8_174", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "9001b330086e4aa69799729560e6dca0", + "observable_viewpoint_ids": [ + "d339130a5534437da266a71435143314", + "9001b330086e4aa69799729560e6dca0", + "0_edge_110_newN_0", + "c4fc538718cc4918884d2040ce523a5f" + ] + }, + { + "position": [ + -9.5591, + 0.45898, + 7.60138 + ], + "radius": null, + "object_id": 383, + "object_name": "0_16_383", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "d0a013ec97674abc8fd7657ea7844221", + "observable_viewpoint_ids": [ + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "a844e7823fe4425f96a265b8fc557cb7" + ] + }, + { + "position": [ + 0.00701, + 3.07161, + 0.69605 + ], + "radius": null, + "object_id": 130, + "object_name": "1_5_130", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "f3dd1c323fde4f6fa5056433cdd92fa7", + "observable_viewpoint_ids": [ + "f3dd1c323fde4f6fa5056433cdd92fa7" + ] + }, + { + "position": [ + -8.63223, + 0.40769, + -3.68631 + ], + "radius": null, + "object_id": 300, + "object_name": "0_14_300", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_80_newN_0", + "observable_viewpoint_ids": [ + "5c3c7dfad2b3409182ecaf5535107dc5", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "dbcf0a37c275473094e1160770291679", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0" + ] + }, + { + "position": [ + -5.93526, + 0.52635, + -4.85061 + ], + "radius": null, + "object_id": 361, + "object_name": "0_15_361", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "4e1ad142e5844d21a376040600184d9a", + "observable_viewpoint_ids": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_146_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b" + ] + }, + { + "position": [ + -3.13154, + 0.2472, + -3.265 + ], + "radius": null, + "object_id": 344, + "object_name": "0_15_344", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_146_newN_1", + "observable_viewpoint_ids": [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_2", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "370411a65c3d4dc8bd475805ad0f4195" + ] + }, + { + "position": [ + 1.49268, + 0.67457, + 1.30941 + ], + "radius": null, + "object_id": 234, + "object_name": "0_11_234", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_124_newN_0", + "observable_viewpoint_ids": [ + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + "0_edge_126_newN_0", + "0_edge_126_newN_1", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381" + ] + }, + { + "position": [ + -12.4596, + 0.77648, + 0.10031 + ], + "radius": null, + "object_id": 257, + "object_name": "0_12_257", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "8b55e4f095374cfe8ddb0fda0f0dfa02", + "observable_viewpoint_ids": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "0_edge_2_newN_1", + "0_edge_2_newN_0" + ] + }, + { + "all_observation_viewpoint_ids": [ + "0_edge_157_newN_2", + "0_edge_73_newN_0", + "080a334ceb144054b12c4ed7847b8f71", + "0_edge_66_newN_0", + "f3dd1c323fde4f6fa5056433cdd92fa7", + "8b219cad487e4091b7c29146f0224729", + "dbcf0a37c275473094e1160770291679", + "db59566f6465453d88a27b5bcb19b096", + "c0baa7759b714fa794ca1fabbd96a96b", + "71472b1d6fbf4d6192ed9917bff8dba7", + "5c3c7dfad2b3409182ecaf5535107dc5", + "0_edge_2_newN_1", + "ed7387d968874f4bbe512395b64405af", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "2dea9de9cf5742398b17c3d6208bb56a", + "4545f7a0d918401ebccdb6716a5f1fce", + "8b8c58d65b3049ef8a844f237096b06d", + "7cae5e5f8adf444d829c95b4a4412ffd", + "0cd0dd452a324496afd701e1c4b2e973", + "53672af2c15047818f2ead24a2370930", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "9001b330086e4aa69799729560e6dca0", + "0_edge_124_newN_0", + "8f25ebb1c23d4fddb035eb336426d5fa", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_153_newN_2", + "d339130a5534437da266a71435143314", + "0_edge_146_newN_2", + "0_edge_80_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_146_newN_1", + "0_edge_2_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_157_newN_0", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_110_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_204_newN_1", + "5d82955e203d447a901929bc53deefd0", + "34a370fe2d1840e196a491db1e995e16", + "0_edge_126_newN_0", + "a844e7823fe4425f96a265b8fc557cb7", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_126_newN_1", + "0_edge_146_newN_0", + "743e6d37beae4b6482a43ae41e634e67", + "bfd18e7fa8894c26a00f0cad55b31f76", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "370411a65c3d4dc8bd475805ad0f4195" + ] + } + ], + "S9hNv5qa7GM.glb_counter": [ + { + "position": [ + -4.24295, + 0.8708, + 3.02286 + ], + "radius": null, + "object_id": 420, + "object_name": "0_17_420", + "object_category": "counter", + "room_id": null, + "room_name": null, + "viewpoint_id": "cdafd704291841daaa57ce008a95a06a", + "observable_viewpoint_ids": [ + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "0_edge_207_newN_0" + ] + }, + { + "position": [ + -5.566, + 0.92231, + 0.08536 + ], + "radius": null, + "object_id": 422, + "object_name": "0_17_422", + "object_category": "counter", + "room_id": null, + "room_name": null, + "viewpoint_id": "8b219cad487e4091b7c29146f0224729", + "observable_viewpoint_ids": [ + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "position": [ + -5.42791, + 3.10618, + 4.11694 + ], + "radius": null, + "object_id": 175, + "object_name": "1_8_175", + "object_category": "counter", + "room_id": null, + "room_name": null, + "viewpoint_id": "0bcfce0d81294b7e84a7eed52cb04a4e", + "observable_viewpoint_ids": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0_edge_161_newN_0", + "0_edge_77_newN_0", + "0_edge_77_newN_1" + ] + }, + { + "position": [ + -5.48521, + 3.32806, + 4.33484 + ], + "radius": null, + "object_id": 184, + "object_name": "1_8_184", + "object_category": "counter", + "room_id": null, + "room_name": null, + "viewpoint_id": "0bcfce0d81294b7e84a7eed52cb04a4e", + "observable_viewpoint_ids": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0_edge_161_newN_0", + "0_edge_77_newN_0", + "0_edge_77_newN_1" + ] + }, + { + "position": [ + -2.30487, + 0.92076, + 1.54147 + ], + "radius": null, + "object_id": 417, + "object_name": "0_17_417", + "object_category": "counter", + "room_id": null, + "room_name": null, + "viewpoint_id": "dfa246b0d1fe4f08953b20151cf951c3", + "observable_viewpoint_ids": [ + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "0_edge_207_newN_0" + ] + }, + { + "all_observation_viewpoint_ids": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "8b219cad487e4091b7c29146f0224729", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "0_edge_77_newN_0", + "50629d10507840cba1ff155045d3f76b", + "0_edge_207_newN_0" + ] + } + ], + "S9hNv5qa7GM.glb_chair": [ + { + "position": [ + -7.63424, + 0.38471, + 1.31949 + ], + "radius": null, + "object_id": 438, + "object_name": "0_17_438", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "db59566f6465453d88a27b5bcb19b096", + "observable_viewpoint_ids": [ + "fea7a9db41944d76b258036b046d13aa", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ] + }, + { + "position": [ + -8.03854, + 0.37187, + 0.84112 + ], + "radius": null, + "object_id": 442, + "object_name": "0_17_442", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "673ae67937804c42b3c22e93efb5d069", + "observable_viewpoint_ids": [ + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "fea7a9db41944d76b258036b046d13aa", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ] + }, + { + "position": [ + -7.23375, + 0.38793, + 0.90283 + ], + "radius": null, + "object_id": 436, + "object_name": "0_17_436", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "db59566f6465453d88a27b5bcb19b096", + "observable_viewpoint_ids": [ + "fea7a9db41944d76b258036b046d13aa", + "8b219cad487e4091b7c29146f0224729", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ] + }, + { + "position": [ + -5.96005, + 0.31229, + 2.74574 + ], + "radius": null, + "object_id": 434, + "object_name": "0_17_434", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "19c6928f8cc64d7aa2d18a48e3b4ee21", + "observable_viewpoint_ids": [ + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "position": [ + -5.95198, + 0.30711, + 3.47171 + ], + "radius": null, + "object_id": 432, + "object_name": "0_17_432", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "50629d10507840cba1ff155045d3f76b", + "observable_viewpoint_ids": [ + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b" + ] + }, + { + "position": [ + -7.5489, + 0.38503, + 0.14543 + ], + "radius": null, + "object_id": 412, + "object_name": "0_17_412", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "8b219cad487e4091b7c29146f0224729", + "observable_viewpoint_ids": [ + "db59566f6465453d88a27b5bcb19b096", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "position": [ + 0.63683, + 0.34264, + 1.36156 + ], + "radius": null, + "object_id": 247, + "object_name": "0_11_247", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_124_newN_0", + "observable_viewpoint_ids": [ + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381" + ] + }, + { + "position": [ + 1.20892, + 0.35507, + 1.74549 + ], + "radius": null, + "object_id": 248, + "object_name": "0_11_248", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_124_newN_0", + "observable_viewpoint_ids": [ + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a" + ] + }, + { + "position": [ + 1.70806, + 0.36695, + 1.75918 + ], + "radius": null, + "object_id": 230, + "object_name": "0_11_230", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_126_newN_0", + "observable_viewpoint_ids": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a" + ] + }, + { + "position": [ + 1.32198, + 0.51584, + 0.85086 + ], + "radius": null, + "object_id": 231, + "object_name": "0_11_231", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_124_newN_0", + "observable_viewpoint_ids": [ + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + "0_edge_126_newN_1", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381" + ] + }, + { + "position": [ + 0.72377, + 0.44809, + -0.41595 + ], + "radius": null, + "object_id": 237, + "object_name": "0_11_237", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_124_newN_0", + "observable_viewpoint_ids": [ + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + "181c56d99ddd42ba8d4be09dbb135381" + ] + }, + { + "position": [ + 2.40186, + 0.46172, + 1.27167 + ], + "radius": null, + "object_id": 227, + "object_name": "0_11_227", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_126_newN_1", + "observable_viewpoint_ids": [ + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + "0_edge_126_newN_0", + "0_edge_126_newN_1", + "b14dbfea048449aa8b8934cbf491a10a" + ] + }, + { + "position": [ + 1.76909, + 0.49578, + 0.80397 + ], + "radius": null, + "object_id": 244, + "object_name": "0_11_244", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "ed7387d968874f4bbe512395b64405af", + "observable_viewpoint_ids": [ + "0_edge_126_newN_1", + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + "0_edge_126_newN_0" + ] + }, + { + "position": [ + 3.04297, + 0.4635, + -0.46591 + ], + "radius": null, + "object_id": 241, + "object_name": "0_11_241", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "ed7387d968874f4bbe512395b64405af", + "observable_viewpoint_ids": [ + "0_edge_126_newN_1", + "ed7387d968874f4bbe512395b64405af" + ] + }, + { + "all_observation_viewpoint_ids": [ + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + "0_edge_126_newN_0", + "0_edge_126_newN_1", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "fea7a9db41944d76b258036b046d13aa", + "0cd0dd452a324496afd701e1c4b2e973", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "dc9eb48ee3324792889cc391d6d4098c" + ] + } + ], + "S9hNv5qa7GM.glb_sofa": [ + { + "position": [ + -3.2977, + 0.46963, + -1.94936 + ], + "radius": null, + "object_id": 339, + "object_name": "0_15_339", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_146_newN_1", + "observable_viewpoint_ids": [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_2", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195" + ] + }, + { + "position": [ + -3.08628, + 0.38028, + -4.62121 + ], + "radius": null, + "object_id": 353, + "object_name": "0_15_353", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_146_newN_1", + "observable_viewpoint_ids": [ + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_2", + "0_edge_66_newN_0", + "0_edge_146_newN_0", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "0_edge_146_newN_1", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195" + ] + }, + { + "position": [ + -11.9301, + 0.44984, + 3.95251 + ], + "radius": null, + "object_id": 401, + "object_name": "0_16_401", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_102_newN_0", + "observable_viewpoint_ids": [ + "0_edge_204_newN_1", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_204_newN_0", + "c0baa7759b714fa794ca1fabbd96a96b", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "position": [ + -2.84352, + 0.23646, + -6.08308 + ], + "radius": null, + "object_id": 355, + "object_name": "0_15_355", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "723a213fbaa847f2a44feac9246fd7b1", + "observable_viewpoint_ids": [ + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "b3c99ac15d9546cd9d58a45647f63934" + ] + }, + { + "position": [ + -11.7971, + 0.46718, + 6.78119 + ], + "radius": null, + "object_id": 384, + "object_name": "0_16_384", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_157_newN_1", + "observable_viewpoint_ids": [ + "0_edge_157_newN_2", + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_157_newN_0", + "c0baa7759b714fa794ca1fabbd96a96b", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "all_observation_viewpoint_ids": [ + "0_edge_157_newN_2", + "0_edge_73_newN_0", + "0_edge_66_newN_0", + "0_edge_147_newN_0", + "0_edge_204_newN_0", + "b3c99ac15d9546cd9d58a45647f63934", + "84928b00abef4a8489bcaa2ce410d1e5", + "c0baa7759b714fa794ca1fabbd96a96b", + "71472b1d6fbf4d6192ed9917bff8dba7", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_147_newN_1", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "4e1ad142e5844d21a376040600184d9a", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_153_newN_2", + "0_edge_146_newN_2", + "0_edge_146_newN_1", + "0_edge_157_newN_0", + "0_edge_204_newN_1", + "a844e7823fe4425f96a265b8fc557cb7", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_146_newN_0", + "370411a65c3d4dc8bd475805ad0f4195" + ] + } + ], + "S9hNv5qa7GM.glb_fireplace": [ + { + "position": [ + -13.7218, + 0.55595, + 5.44789 + ], + "radius": null, + "object_id": 386, + "object_name": "0_16_386", + "object_category": "fireplace", + "room_id": null, + "room_name": null, + "viewpoint_id": "71472b1d6fbf4d6192ed9917bff8dba7", + "observable_viewpoint_ids": [ + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d" + ] + }, + { + "position": [ + -0.01793, + 0.90948, + -3.30786 + ], + "radius": null, + "object_id": 343, + "object_name": "0_15_343", + "object_category": "fireplace", + "room_id": null, + "room_name": null, + "viewpoint_id": "370411a65c3d4dc8bd475805ad0f4195", + "observable_viewpoint_ids": [ + "0_edge_146_newN_2", + "0_edge_147_newN_1", + "b3c99ac15d9546cd9d58a45647f63934", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195" + ] + }, + { + "all_observation_viewpoint_ids": [ + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_146_newN_2", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_147_newN_1", + "b3c99ac15d9546cd9d58a45647f63934", + "84928b00abef4a8489bcaa2ce410d1e5", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "370411a65c3d4dc8bd475805ad0f4195" + ] + } + ], + "S9hNv5qa7GM.glb_tv_monitor": [ + { + "position": [ + -9.16851, + 1.09535, + 7.88978 + ], + "radius": null, + "object_id": 375, + "object_name": "0_16_375", + "object_category": "tv_monitor", + "room_id": null, + "room_name": null, + "viewpoint_id": "d0a013ec97674abc8fd7657ea7844221", + "observable_viewpoint_ids": [ + "d0a013ec97674abc8fd7657ea7844221" + ] + }, + { + "all_observation_viewpoint_ids": [ + "d0a013ec97674abc8fd7657ea7844221" + ] + } + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3M68NM076JASZ3CHPEVH7NWEPMJ6RI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.86012, + 0.11628, + -4.034 + ], + "start_rotation": [ + 0, + 0.85378, + 0, + 0.52064 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 4.24636, + "euclidean_distance": 2.92637, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.58923, + 0.11628, + -1.53155 + ] + }, + "scene_dataset": null, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "0_edge_210_newN_0", + "path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + [ + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33FOTY3KEOOTMFM11BT5NW6BHBC1CN", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.04201, + 0.11628, + 0.95155 + ], + "start_rotation": [ + 0, + 0.06384, + 0, + -0.99796 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.19015, + "euclidean_distance": 7.77125, + "closest_goal_object_id": 427, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.7364, + 0.11628, + 2.0041 + ] + }, + "scene_dataset": null, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "181c56d99ddd42ba8d4be09dbb135381", + "path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "0cd0dd452a324496afd701e1c4b2e973", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "refined_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ], + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "1d8256878b534440b5ba54b31bfb210b" + ], + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ] + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3I0BTBYZAZO6IT2O1K7U6IFKF7AY0B", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.78986, + 0.11628, + -1.16395 + ], + "start_rotation": [ + 0, + 0.29016, + 0, + -0.95698 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 19.43005, + "euclidean_distance": 9.43413, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.25722, + 2.91628, + 1.96159 + ] + }, + "scene_dataset": null, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "eb3364f96bed4877b27ce5e0cfa32702", + "path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3B1NLC6UG1Z9KJL8OZ0EEJ9OIJLPG0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.76777, + 3.11628, + -5.48743 + ], + "start_rotation": [ + 0, + 0.2723, + 0, + 0.96221 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.81674, + "euclidean_distance": 6.9476, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.95479, + 2.91628, + -1.07662 + ] + }, + "scene_dataset": null, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_73_newN_0", + "path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "9001b330086e4aa69799729560e6dca0", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa" + ], + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ], + "50629d10507840cba1ff155045d3f76b", + [ + "db59566f6465453d88a27b5bcb19b096" + ] + ] + }, + { + "episode_id": "A3G5OWGKHW6OL5:3VAR3R6G1R4C643PQ1BBX6N0KV0O8Q", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.48602, + 0.11628, + 7.46594 + ], + "start_rotation": [ + 0, + 0.92566, + 0, + -0.37836 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 13.07562, + "euclidean_distance": 11.43171, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.18106, + 0.11628, + -3.71563 + ] + }, + "scene_dataset": null, + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "a844e7823fe4425f96a265b8fc557cb7", + "path": [ + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "refined_path": [ + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + [ + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ], + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + [ + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786" + ], + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3FUI0JHJPZ11JI4XVMWNIMHE9HR33V", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.63292, + 2.91628, + -1.01068 + ], + "start_rotation": [ + 0, + 0.78269, + 0, + 0.62241 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 8.45732, + "euclidean_distance": 7.09221, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.1165, + 2.91628, + -4.08797 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "8f25ebb1c23d4fddb035eb336426d5fa", + "path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "2dea9de9cf5742398b17c3d6208bb56a", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "refined_path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa" + ], + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3HPZF4IVNOWQCLX4D00E1JHLOV7CYG", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.98781, + 0.11628, + 2.67626 + ], + "start_rotation": [ + 0, + 0.02849, + 0, + 0.99959 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.93559, + "euclidean_distance": 8.26956, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.61747, + 0.11628, + 2.60781 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "45af7750dab04ee9931d8c9a1ce9ee7d", + "path": [ + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3FE2ERCCZZBXCW26CIDMJSIQ95LOPV", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.53637, + 2.91628, + 6.04829 + ], + "start_rotation": [ + 0, + 0.61882, + 0, + -0.78554 + ], + "object_category": "table", + "info": { + "geodesic_distance": 8.45362, + "euclidean_distance": 7.39889, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.60343, + 2.91628, + -1.17729 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "5635036d3bfb483eac283af7bb5ac986", + "path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986" + ], + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3NL0RFNU0HQSXCV8G6T59DQMY384KR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.62747, + 2.91628, + -0.28388 + ], + "start_rotation": [ + 0, + 0.64292, + 0, + -0.76594 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.89439, + "euclidean_distance": 5.7715, + "closest_goal_object_id": 79, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.10494, + 2.91628, + -3.99868 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "7cae5e5f8adf444d829c95b4a4412ffd", + "path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + [ + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + [ + "8f25ebb1c23d4fddb035eb336426d5fa" + ], + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3XXU1SWE8OY5MB4LLETE3WXDCF3A07", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.2068, + 0.11628, + 4.32535 + ], + "start_rotation": [ + 0, + 0.95743, + 0, + 0.28867 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.62349, + "euclidean_distance": 5.84284, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.29183, + 2.91628, + -0.45561 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "71472b1d6fbf4d6192ed9917bff8dba7", + "path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A16K7X677N4WN6:31N2WW6R9TTWZUKQFHXPJV6BC7VF3F", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.34772, + 0.11628, + -3.65755 + ], + "start_rotation": [ + 0, + 0.89144, + 0, + -0.45315 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.73683, + "euclidean_distance": 3.79565, + "closest_goal_object_id": 422, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.46758, + 0.11628, + -0.44083 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "0_edge_146_newN_0", + "path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3S06PH7KST73R7SF17OG72OT2BFD1Q", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.44359, + 2.91628, + 3.73257 + ], + "start_rotation": [ + 0, + 0.79809, + 0, + -0.60253 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 5.90174, + "euclidean_distance": 4.44443, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.71678, + 2.91628, + -0.79839 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_33_newN_1", + "path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3G5F9DBFOR00PZDFUHRV5BA7J6DVH2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.45754, + 3.11628, + -5.1451 + ], + "start_rotation": [ + 0, + 0.99887, + 0, + 0.04753 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.56071, + "euclidean_distance": 6.20478, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.89041, + 2.91628, + -1.07544 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "4e1ad142e5844d21a376040600184d9a", + "path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_7_newN_1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1" + ], + "refined_path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3HPZF4IVNOWQCLX4D00E1JHLOWRCY2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.28123, + 2.91628, + -2.03743 + ], + "start_rotation": [ + 0, + 0.06558, + 0, + -0.99785 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.54964, + "euclidean_distance": 4.37243, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.1277, + 2.91628, + 1.95533 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "5f4fd3bd58144211a8617caa5570e40c", + "path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A314XJY8V1YL12:3T3IWE1XG8QYP08T8CEAD7END8PTQC", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.1436, + 2.91628, + -1.22869 + ], + "start_rotation": [ + 0, + 0.65446, + 0, + -0.7561 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 9.2015, + "euclidean_distance": 6.05251, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.94409, + 0.11628, + 3.23282 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "0c2a97f049db4a429776940850fedf2e", + "path": [ + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3N8OEVH1FTTFRWQ5XI07USD0Z03OOS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.7065, + 0.11628, + -3.23978 + ], + "start_rotation": [ + 0, + 0.68087, + 0, + 0.7324 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.03102, + "euclidean_distance": 11.96279, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.62424, + 0.11628, + -1.54234 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "370411a65c3d4dc8bd475805ad0f4195", + "path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3ZSY5X72NZEIO9ILPAHBONI5ANTOR7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.26732, + 0.11628, + 2.8569 + ], + "start_rotation": [ + 0, + 0.99586, + 0, + 0.09095 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 6.5733, + "euclidean_distance": 5.27404, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.50955, + 0.11628, + -1.949 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "10_edge_195_newN_0", + "path": [ + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "instruction": "Locate the fireplace.", + "instr_encoding": [ + 101, + 12453, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "refined_path": [ + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3GLB5JMZFZY0VMIIJQ9JEPSZ40TGDO", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.96972, + 2.91628, + 3.50947 + ], + "start_rotation": [ + 0, + 0.93437, + 0, + -0.3563 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 16.72976, + "euclidean_distance": 7.24057, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.54513, + 0.11628, + 7.05313 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0cb5fac1789e42d5a99cc87f4ef8cb35", + "path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3B1P3B6X3AM2B:3X73LLYYQ3HNHU46SQ54VUGUX4GNHK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.27644, + 2.91628, + 2.1349 + ], + "start_rotation": [ + 0, + 0.86306, + 0, + 0.50511 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 4.37615, + "euclidean_distance": 2.86645, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.50113, + 2.91628, + -0.76748 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_185_newN_1", + "path": [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3ERMJ6L4D0VK6NDU3G4SR220EA6M7B", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.51573, + 2.91628, + 3.44729 + ], + "start_rotation": [ + 0, + 0.95607, + 0, + 0.29313 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.16292, + "euclidean_distance": 6.29689, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.11892, + 1.27831, + 1.44077 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "0cb5fac1789e42d5a99cc87f4ef8cb35", + "path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0" + ], + "d804a36fe0fc40dfb8f03ca3758ce904", + [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3180JW2OT6FFIBTQCQC3DQWNJAFJ5O", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.1541, + 2.91628, + -0.67206 + ], + "start_rotation": [ + 0, + 0.00711, + 0, + 0.99997 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.50201, + "euclidean_distance": 4.01696, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.24221, + 2.91628, + 1.94458 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "0_edge_134_newN_0", + "path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3N2BF7Y2VSXHZCJ6GPQ4IFRUSEIHMQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.50986, + 0.11628, + 3.18646 + ], + "start_rotation": [ + 0, + 0.99943, + 0, + -0.03362 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 1.61418, + "euclidean_distance": 1.41641, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.23615, + 0.43182, + 2.6331 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "0_edge_204_newN_0", + "path": [ + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "refined_path": [ + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3SPJ0334236DKZ3ANSH0ONUGEGZJYM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.29556, + 2.91628, + 1.18788 + ], + "start_rotation": [ + 0, + 0.34602, + 0, + 0.93823 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 11.26544, + "euclidean_distance": 6.63621, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.84961, + 0.11628, + 3.17599 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "34a370fe2d1840e196a491db1e995e16", + "path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + [ + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786" + ], + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3Y9N9SS8L0EZ1A6UOB2ZVV3Q0VE3DT", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -14.65725, + 0.11628, + 0.31721 + ], + "start_rotation": [ + 0, + 0.79923, + 0, + 0.60103 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 4.68376, + "euclidean_distance": 4.47372, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.6642, + 0.11628, + -3.64838 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "322a5d3bbca1428fb92d39bfc6e603ee", + "path": [ + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "refined_path": [ + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:35GMH2SV3GKTF5DG34XBPGJMVYSOEJ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.57698, + 0.11628, + 2.51515 + ], + "start_rotation": [ + 0, + 0.18611, + 0, + -0.98253 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 14.56764, + "euclidean_distance": 12.08757, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.69945, + 0.11628, + 6.90459 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "b14dbfea048449aa8b8934cbf491a10a", + "path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39O5D9O87VVPWI0GOF7OBPL8FUC3C1", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.84888, + 0.11628, + 3.35471 + ], + "start_rotation": [ + 0, + 0.83762, + 0, + 0.54626 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 17.21828, + "euclidean_distance": 10.90361, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.28785, + 2.91628, + 1.97368 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "6561b21dac894dfca3473db3037dbfad", + "path": [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3S4AW7T80DL3HIDQ1656OD31N3D4LU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.05304, + 2.91628, + 0.05723 + ], + "start_rotation": [ + 0, + 0.94921, + 0, + 0.31464 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 13.27846, + "euclidean_distance": 9.51439, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.27892, + 1.36479, + 1.24622 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "f3dd1c323fde4f6fa5056433cdd92fa7", + "path": [ + "f3dd1c323fde4f6fa5056433cdd92fa7", + "0_edge_122_newN_0", + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "f3dd1c323fde4f6fa5056433cdd92fa7", + "0_edge_122_newN_0", + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "refined_path": [ + "f3dd1c323fde4f6fa5056433cdd92fa7", + "0_edge_122_newN_0", + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + [ + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:31QNSG6A5TW5LYBQ9FU9MK15U5I87A", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.98932, + 0.11628, + -3.37588 + ], + "start_rotation": [ + 0, + 0.99974, + 0, + -0.02284 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 3.16172, + "euclidean_distance": 2.9556, + "closest_goal_object_id": 422, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.47925, + 0.11628, + -0.42959 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "1d8256878b534440b5ba54b31bfb210b", + "path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:39O5D9O87VVPWI0GOF7OBPL8FU63CV", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.73347, + 0.11628, + -1.12292 + ], + "start_rotation": [ + 0, + 0.11738, + 0, + 0.99309 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.9188, + "euclidean_distance": 4.566, + "closest_goal_object_id": 319, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.61605, + 0.11628, + -4.57603 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "eb3364f96bed4877b27ce5e0cfa32702", + "path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ], + "refined_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ] + }, + { + "episode_id": "A19317A3X87NVM:3EF8EXOTT3YGUTS7B3ARA0J67VDJ1B", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.16861, + 2.91628, + 0.11906 + ], + "start_rotation": [ + 0, + 0.60973, + 0, + 0.79261 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.32681, + "euclidean_distance": 8.0968, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.46103, + 2.91628, + -4.76692 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "34a370fe2d1840e196a491db1e995e16", + "path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "8f25ebb1c23d4fddb035eb336426d5fa", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_9_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16" + ], + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A28AXX4NCWPH1F:3FQ5JJ512NREJK5EYB818MWMPLKNKO", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.03977, + 2.91628, + 6.40995 + ], + "start_rotation": [ + 0, + 0.95871, + 0, + 0.28439 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 17.1128, + "euclidean_distance": 4.16994, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.24175, + 0.11628, + 3.52229 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "eba5ca774e2a41dfa6e22fbff7fe66d2", + "path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Find the fireplace.", + "instr_encoding": [ + 101, + 2424, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3FUI0JHJPZ11JI4XVMWNIMHE9HS33W", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.50524, + 2.91628, + -1.089 + ], + "start_rotation": [ + 0, + 0.24842, + 0, + 0.96865 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.50711, + "euclidean_distance": 6.56214, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.06299, + 0.11628, + 2.95817 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "dcced7b92f444b9a83bd7d54413fa486", + "path": [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + [ + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:39KFRKBFIPYRLAU73595WJB2DAEYOP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.40827, + 2.91628, + -5.44653 + ], + "start_rotation": [ + 0, + 0.02142, + 0, + -0.99977 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 6.60376, + "euclidean_distance": 4.46146, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.38265, + 2.91628, + -1.01112 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "8388153c198e4e4fb75cd8d0fd96d8a2", + "path": [ + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "ARQR5NIFA1AJ:3L70J4KAZIPZLV5FXQH9I3HW655ADV", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.54371, + 2.91628, + 2.20585 + ], + "start_rotation": [ + 0, + 0.28634, + 0, + -0.95813 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.15189, + "euclidean_distance": 5.4898, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.03767, + 2.91628, + -1.07202 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "d339130a5534437da266a71435143314", + "path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "0_edge_77_newN_1", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "refined_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + [ + "4bb7642a8af44f97acb81190589a3451" + ], + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3SKRO2GZ73UB5DYPTOA3BFJJMKJ1KY", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.17997, + 0.11628, + -1.72898 + ], + "start_rotation": [ + 0, + 0.99903, + 0, + -0.04398 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.34996, + "euclidean_distance": 4.59828, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.59449, + 0.11628, + -1.41423 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "61cac35d27254f8b8edba9601c4f8b5f", + "path": [ + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "refined_path": [ + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:32SCWG5HIJ77NQW2CMRS2SWZO55P6L", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.49978, + 2.91628, + 3.17191 + ], + "start_rotation": [ + 0, + 0.93979, + 0, + 0.34176 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.61384, + "euclidean_distance": 5.4328, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.98759, + 2.91628, + -1.04456 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_161_newN_0", + "path": [ + "0_edge_161_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_161_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "0_edge_161_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A3G5OWGKHW6OL5:3VAR3R6G1R4C643PQ1BBX6N0KV0O8Q", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.48602, + 0.11628, + 7.46594 + ], + "start_rotation": [ + 0, + 0.92566, + 0, + -0.37836 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 13.07562, + "euclidean_distance": 11.43171, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.18106, + 0.11628, + -3.71563 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "a844e7823fe4425f96a265b8fc557cb7", + "path": [ + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "refined_path": [ + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + [ + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ], + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + [ + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786" + ], + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:34FNN24DCOC5D0OPYQD6NDBBWF9Y5K", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.8863, + 2.91628, + -4.96179 + ], + "start_rotation": [ + 0, + 0.23231, + 0, + -0.97264 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 9.66998, + "euclidean_distance": 8.59582, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.03917, + 0.11628, + 3.2259 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "0_edge_169_newN_1", + "path": [ + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ], + "refined_path": [ + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3SPJ0334236DKZ3ANSH0ONUGEFHYJH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.2262, + 0.11628, + 4.15386 + ], + "start_rotation": [ + 0, + 0.69414, + 0, + 0.71984 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.37643, + "euclidean_distance": 6.37339, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.4885, + 2.91628, + -0.98815 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "0_edge_204_newN_1", + "path": [ + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3M68NM076JASZ3CHPEVH7NWEPN36R4", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.98408, + 0.11628, + -1.35655 + ], + "start_rotation": [ + 0, + 0.24939, + 0, + 0.9684 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.26704, + "euclidean_distance": 1.90283, + "closest_goal_object_id": 245, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.4452, + 0.11628, + -0.35987 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "84928b00abef4a8489bcaa2ce410d1e5", + "path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "refined_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + [ + "84928b00abef4a8489bcaa2ce410d1e5" + ], + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3ZR9AIQJUDCQKMO4CDJNQTBDK5404J", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.75021, + 0.11628, + -3.03742 + ], + "start_rotation": [ + 0, + 0.70226, + 0, + 0.71192 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.84061, + "euclidean_distance": 8.32756, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 0.70679, + 0.11628, + 0.46372 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "1d8256878b534440b5ba54b31bfb210b", + "path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_146_newN_2", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_124_newN_0" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0" + ], + "refined_path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + [ + "1d8256878b534440b5ba54b31bfb210b" + ], + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_146_newN_2", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "0_edge_124_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:338JKRMM282GXBAHJM0Z9OWUYX4AHA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.66773, + 2.91628, + 0.94239 + ], + "start_rotation": [ + 0, + 0.59286, + 0, + 0.8053 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.48162, + "euclidean_distance": 7.10655, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.40627, + 2.91628, + -0.97795 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "34a370fe2d1840e196a491db1e995e16", + "path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3ZGVPD4G6VK73S9KV8XN40QRICATZ8", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.65445, + 2.91628, + -1.60086 + ], + "start_rotation": [ + 0, + 0.90019, + 0, + 0.4355 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.49429, + "euclidean_distance": 4.99559, + "closest_goal_object_id": 79, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.19099, + 2.91628, + -3.99076 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + [ + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ] + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3RSDURM96CP59JHI9R69R7HO97BYEM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.58135, + 3.11628, + -4.31682 + ], + "start_rotation": [ + 0, + 0.99973, + 0, + -0.02317 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.20264, + "euclidean_distance": 3.4819, + "closest_goal_object_id": 120, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -2.80046, + 2.91628, + -0.82996 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ] + }, + { + "episode_id": "A3RYI5HXC2MJLN:3RXPCZQMQRE63R263XPODNRQF2JG1P", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.05632, + 3.11628, + -3.92203 + ], + "start_rotation": [ + 0, + 0.51286, + 0, + -0.85847 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.68678, + "euclidean_distance": 7.93083, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.5129, + 2.91628, + -1.01632 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3SB5N7Y3O576W2HO7ELOZI8GABEG0P", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.07893, + 2.91628, + 0.18753 + ], + "start_rotation": [ + 0, + 0.83037, + 0, + -0.55721 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.65278, + "euclidean_distance": 6.09405, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.50027, + 2.91628, + -4.78775 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "9001b330086e4aa69799729560e6dca0", + "path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1" + ], + "refined_path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0" + ], + "c4fc538718cc4918884d2040ce523a5f", + [ + "0_edge_134_newN_0", + "0_edge_110_newN_0" + ], + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3LWJHTCVCEPO6VQSDS9LW3ZMM0VQFH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.88699, + 2.91628, + -3.42639 + ], + "start_rotation": [ + 0, + 0.39846, + 0, + -0.91719 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.3677, + "euclidean_distance": 5.96922, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.91883, + 2.91628, + 1.8352 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "2c449dc925de472ca31124feca25a01a", + "path": [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A16K7X677N4WN6:37M28K1J0SGCOH577M3KL1C9BP4JAK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.491, + 0.11628, + -2.07908 + ], + "start_rotation": [ + 0, + 0.44757, + 0, + 0.89425 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 11.78266, + "euclidean_distance": 9.93871, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.26718, + 0.11628, + -4.00643 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "84928b00abef4a8489bcaa2ce410d1e5", + "path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "A3G5OWGKHW6OL5:3JPSL1DZ5U2877WSMKVCE8TQK9OANU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.14333, + 0.11628, + -0.36627 + ], + "start_rotation": [ + 0, + 0.37255, + 0, + -0.92801 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 6.50196, + "euclidean_distance": 4.28987, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.63957, + 0.11628, + 3.63656 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "8b219cad487e4091b7c29146f0224729", + "path": [ + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + [ + "db59566f6465453d88a27b5bcb19b096" + ], + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3570Y55XZRM3TXD9FMWXRA20MNVYG8", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.82614, + 0.11628, + -3.79275 + ], + "start_rotation": [ + 0, + 0.27921, + 0, + 0.96023 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 7.20441, + "euclidean_distance": 5.39397, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.30637, + 0.11628, + -4.16718 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "0_edge_146_newN_0", + "path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:352YTHGROXG1VMU0ALQ8WLAU6N7H45", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.27748, + 0.11628, + -3.22297 + ], + "start_rotation": [ + 0, + 0.94048, + 0, + -0.33984 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 11.66229, + "euclidean_distance": 10.42048, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.59693, + 0.11628, + 7.07385 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_82_newN_0", + "path": [ + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + [ + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + [ + "db59566f6465453d88a27b5bcb19b096" + ], + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3XUHV3NRVM1JR5Y0OQ9I1DG86I95H3", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.82309, + 0.11628, + -1.5939 + ], + "start_rotation": [ + 0, + 0.86663, + 0, + 0.49895 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 15.58407, + "euclidean_distance": 11.65309, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.74472, + 0.11628, + 7.04444 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "84928b00abef4a8489bcaa2ce410d1e5", + "path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3IAEQB9FMGNWS88IYVD10SENYOQWDA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.60838, + 2.91628, + 0.78582 + ], + "start_rotation": [ + 0, + 0.68516, + 0, + -0.72839 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.89827, + "euclidean_distance": 3.84069, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.09331, + 2.91628, + -1.05373 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "d339130a5534437da266a71435143314", + "path": [ + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "refined_path": [ + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + [ + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:33FBRBDW6Q2BXF6M0W2K26TJVHU8CQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.89413, + 0.11628, + 3.32763 + ], + "start_rotation": [ + 0, + 0.28665, + 0, + 0.95803 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 3.4305, + "euclidean_distance": 2.28257, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.66433, + 0.11628, + 2.48974 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "50629d10507840cba1ff155045d3f76b", + "path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3RXCAC0YITSOERMR2IY3SXEYT9A8GO", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.66022, + 0.11628, + 1.08756 + ], + "start_rotation": [ + 0, + 0.81529, + 0, + 0.57906 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.70854, + "euclidean_distance": 2.28497, + "closest_goal_object_id": 381, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.56265, + 0.11628, + 3.20351 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "3c5c466d4f64452a9e87c545d918c4eb", + "path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ], + "refined_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3H7XDTSHKEUZ4SI90LE96DHKBGMGWK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.55938, + 2.91628, + -1.84834 + ], + "start_rotation": [ + 0, + 0.99945, + 0, + -0.03309 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.28387, + "euclidean_distance": 5.67502, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.06911, + 0.11628, + 2.86083 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "3532b1e7ea1646848b710936d4696a5d", + "path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:30ZX6P7VFAYNJEA3U7A5FJTBZ0H2JZ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.92598, + 2.91628, + 1.75473 + ], + "start_rotation": [ + 0, + 0.21639, + 0, + 0.97631 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.98149, + "euclidean_distance": 6.6026, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.19393, + 2.91628, + -0.48607 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "4bb7642a8af44f97acb81190589a3451", + "path": [ + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3COPXFW7XDFEM5HREQLTCB1HP0JKPF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.33481, + 0.11628, + 5.01155 + ], + "start_rotation": [ + 0, + 0.33732, + 0, + 0.94139 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 14.60551, + "euclidean_distance": 13.75058, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.08698, + 0.11628, + -3.72954 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "1e597325e01d4a9aa332e92abc455414", + "path": [ + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "refined_path": [ + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3ZY8KE4ISL6D2SCID7EPEP28AUJQV5", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.18108, + 0.11628, + 3.35641 + ], + "start_rotation": [ + 0, + 0.79106, + 0, + -0.61174 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.40669, + "euclidean_distance": 6.14453, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.17186, + 2.91628, + -0.34466 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "50629d10507840cba1ff155045d3f76b", + "path": [ + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3QRYMNZ7F0KDM3V1SKMT9DJI8XUNTB", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.67516, + 2.91628, + 2.42766 + ], + "start_rotation": [ + 0, + 0.84619, + 0, + -0.53288 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.82216, + "euclidean_distance": 6.62903, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.19436, + 2.91628, + 1.94012 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "d339130a5534437da266a71435143314", + "path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A75XDPFNICR3T:39JEC7537W498R2Z8PDUUKDR6FDCVH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.9679, + 2.91628, + 0.85523 + ], + "start_rotation": [ + 0, + 0.20232, + 0, + -0.97932 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 10.75354, + "euclidean_distance": 6.96752, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.76486, + 2.91628, + 1.88324 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "34a370fe2d1840e196a491db1e995e16", + "path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A3RYI5HXC2MJLN:36TFCYNS46DSTOIAUWSDTW7SZI6HXE", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.93172, + 2.91628, + 5.0298 + ], + "start_rotation": [ + 0, + 0.99178, + 0, + -0.12798 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 13.0389, + "euclidean_distance": 5.23758, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.13562, + 0.11628, + 2.94101 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "0_edge_30_newN_1", + "path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "refined_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3URFVVM167LM35O9VDNX9WCT1QQUZ9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.29085, + 2.91628, + 5.68218 + ], + "start_rotation": [ + 0, + 0.0107, + 0, + 0.99994 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 16.86825, + "euclidean_distance": 4.10823, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.5544, + 0.11628, + 7.05684 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_30_newN_0", + "path": [ + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3L0KT67Y8GJ6J2M0AMQEGOL3AZBYSG", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.47653, + 0.11628, + 5.50921 + ], + "start_rotation": [ + 0, + 0.61051, + 0, + -0.79201 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.3256, + "euclidean_distance": 3.22385, + "closest_goal_object_id": 247, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.24437, + 0.11628, + 2.26996 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "1e597325e01d4a9aa332e92abc455414", + "path": [ + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "refined_path": [ + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3A1PQ49WVJKK3NXHN376YN3RU341HJ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.84548, + 0.11628, + 5.14144 + ], + "start_rotation": [ + 0, + 0.93323, + 0, + -0.35927 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.23308, + "euclidean_distance": 12.04214, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.22044, + 2.91628, + -0.37468 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "1e597325e01d4a9aa332e92abc455414", + "path": [ + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3YT88D1N0A17FGC4GSOMZ8YGK3K3KD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.59043, + 2.91628, + 5.83624 + ], + "start_rotation": [ + 0, + 0.21815, + 0, + -0.97592 + ], + "object_category": "table", + "info": { + "geodesic_distance": 8.24394, + "euclidean_distance": 7.20981, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.63133, + 2.91628, + -1.17161 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "5635036d3bfb483eac283af7bb5ac986", + "path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_33_newN_1", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ], + "refined_path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "0_edge_33_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3BWI6RSP7ICMUZLHMIG9EUXR58A7E2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.34622, + 0.11628, + -3.33595 + ], + "start_rotation": [ + 0, + 0.95953, + 0, + 0.28162 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.49838, + "euclidean_distance": 8.99393, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 0.67702, + 0.11628, + 0.49736 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "1d8256878b534440b5ba54b31bfb210b", + "path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "b3c99ac15d9546cd9d58a45647f63934", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_124_newN_0" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0" + ], + "refined_path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + [ + "1d8256878b534440b5ba54b31bfb210b" + ], + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5" + ], + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "0_edge_124_newN_0" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3SUWZRL0M0G3QZ7C38BH8GXVAYXE6J", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.3285, + 0.11628, + 6.06341 + ], + "start_rotation": [ + 0, + 0.59188, + 0, + 0.80603 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 16.20331, + "euclidean_distance": 15.42195, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.16587, + 0.11628, + -4.28088 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "947f02de64db4ccbbe220a9f9124a815", + "path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "A3B1P3B6X3AM2B:3DBQWDE4Y81B11KBRO4V6XD4SUC5N6", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -14.05097, + 0.11628, + -1.47429 + ], + "start_rotation": [ + 0, + 0.98555, + 0, + -0.16939 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.07613, + "euclidean_distance": 6.76977, + "closest_goal_object_id": 412, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.28009, + 0.11628, + -1.26909 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "0_edge_2_newN_0", + "path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A314XJY8V1YL12:3RANCT1ZVHKQL7LTPZ7UNE5QAN8UB7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.27873, + 2.91628, + -0.99775 + ], + "start_rotation": [ + 0, + 0.3569, + 0, + -0.93414 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 9.83634, + "euclidean_distance": 8.07807, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.81941, + 2.91628, + 1.83032 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "7cae5e5f8adf444d829c95b4a4412ffd", + "path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3M68NM076JASZ3CHPEVH7NWEPMJ6RI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.86012, + 0.11628, + -4.034 + ], + "start_rotation": [ + 0, + 0.85378, + 0, + 0.52064 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 4.24636, + "euclidean_distance": 2.92637, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.58923, + 0.11628, + -1.53155 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "0_edge_210_newN_0", + "path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + [ + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3T3IWE1XG8QYP08T8CEAD7END9CQTY", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.63179, + 2.91628, + 1.97172 + ], + "start_rotation": [ + 0, + 0.7853, + 0, + -0.61911 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 9.32882, + "euclidean_distance": 6.02066, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.262, + 2.91628, + -0.37362 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "d339130a5534437da266a71435143314", + "path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3I0BTBYZAZO6IT2O1K7U6IFKF7AY0B", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.78986, + 0.11628, + -1.16395 + ], + "start_rotation": [ + 0, + 0.29016, + 0, + -0.95698 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 19.43005, + "euclidean_distance": 9.43413, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.25722, + 2.91628, + 1.96159 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "eb3364f96bed4877b27ce5e0cfa32702", + "path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3P1L2B7AD3S7LBN8KQKF2B964UQOL1", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.3159, + 2.91628, + 2.74375 + ], + "start_rotation": [ + 0, + 0.32251, + 0, + -0.94657 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.83037, + "euclidean_distance": 10.48082, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.53755, + 2.91628, + -4.72888 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "0cb5fac1789e42d5a99cc87f4ef8cb35", + "path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d" + ], + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3OXV7EAXLGT0G1RFEOULPPTYJ8236A", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.08015, + 0.11628, + 2.98783 + ], + "start_rotation": [ + 0, + 0.99962, + 0, + -0.02741 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.58817, + "euclidean_distance": 4.98116, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.43138, + 2.91628, + -0.95638 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "0_edge_102_newN_0", + "path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:36ZN444YTT15VAF2ZNN2AVHENRPOII", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.29892, + 0.11628, + -5.27043 + ], + "start_rotation": [ + 0, + 0.85632, + 0, + -0.51645 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 11.0874, + "euclidean_distance": 9.75189, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.77146, + 0.11628, + -2.71252 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_73_newN_0", + "path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_146_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a" + ], + "0_edge_146_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3TUI152ZZDQXGGWK6TU071VSLQ81QN", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.78016, + 2.91628, + 4.84943 + ], + "start_rotation": [ + 0, + 0.7975, + 0, + 0.60331 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 11.88429, + "euclidean_distance": 3.38542, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.89029, + 0.11628, + 3.2005 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "d97dee547dac432094720d127b49b347", + "path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2" + ], + "refined_path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:339ANSOTR75M5JUN1VV93E053M1IKE", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.38257, + 0.11628, + 1.80921 + ], + "start_rotation": [ + 0, + 0.78637, + 0, + 0.61776 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 9.26724, + "euclidean_distance": 3.56189, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.19402, + 2.91628, + -0.35621 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "0_edge_102_newN_0", + "path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A28AXX4NCWPH1F:3DEL4X4EL8OEFJ8Z4WW1FW2VPE4XYE", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.10327, + 2.91628, + 2.9135 + ], + "start_rotation": [ + 0, + 0.82522, + 0, + -0.56481 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 11.31403, + "euclidean_distance": 4.90676, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.23867, + 0.11628, + 2.8917 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "0_edge_33_newN_1", + "path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d" + ], + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3WT783CTPDKUZD4T38MUT8JK3MLCBX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.46065, + 0.11628, + 1.37157 + ], + "start_rotation": [ + 0, + 0.97918, + 0, + 0.20297 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 7.44815, + "euclidean_distance": 7.086, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.28087, + 0.11628, + 3.47477 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "db59566f6465453d88a27b5bcb19b096", + "path": [ + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Navigate to the fireplace.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A302KOFOYLD89A:38JBBYETQQDPBC3YKKI2BIDHE6EE4J", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.08576, + 0.11628, + -3.79894 + ], + "start_rotation": [ + 0, + 0.42716, + 0, + -0.90418 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.57726, + "euclidean_distance": 6.46761, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.62389, + 0.11628, + 2.60076 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "0_edge_146_newN_1", + "path": [ + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a" + ] + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3YHH42UU5DIMIUVPI5I4CADO6SSL0S", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.56189, + 0.11628, + -1.51145 + ], + "start_rotation": [ + 0, + 0.47577, + 0, + -0.87957 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.67211, + "euclidean_distance": 8.53457, + "closest_goal_object_id": 402, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.31518, + 0.11628, + 6.88472 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "4545f7a0d918401ebccdb6716a5f1fce", + "path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_146_newN_2", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_124_newN_0" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0" + ], + "refined_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + [ + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b8c58d65b3049ef8a844f237096b06d", + [ + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_146_newN_2", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "0_edge_124_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3DZQRBDBSNI53ZPCL1XOQUPQ1YH3SG", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.58038, + 2.96849, + -1.74865 + ], + "start_rotation": [ + 0, + 0.89619, + 0, + -0.44366 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.55904, + "euclidean_distance": 4.99167, + "closest_goal_object_id": 79, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.20067, + 2.91628, + -3.97186 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + [ + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3WJEQKOXAA55T0P3HXXEH1GNH8W1AQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.7079, + 3.11628, + -5.474 + ], + "start_rotation": [ + 0, + 0.81042, + 0, + 0.58584 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 16.50778, + "euclidean_distance": 13.43768, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.3032, + 0.11628, + 3.43494 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "723a213fbaa847f2a44feac9246fd7b1", + "path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "9001b330086e4aa69799729560e6dca0", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Go to the fireplace.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa" + ], + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33FOTY3KEOOTMFM11BT5NW6BHBC1CN", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.04201, + 0.11628, + 0.95155 + ], + "start_rotation": [ + 0, + 0.06384, + 0, + -0.99796 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.19015, + "euclidean_distance": 7.77125, + "closest_goal_object_id": 427, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.7364, + 0.11628, + 2.0041 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "181c56d99ddd42ba8d4be09dbb135381", + "path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "0cd0dd452a324496afd701e1c4b2e973", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "refined_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ], + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "1d8256878b534440b5ba54b31bfb210b" + ], + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ] + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3PWWM24LHU1YZXEK33DEQTKXJQB285", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.86652, + 0.11628, + 3.0783 + ], + "start_rotation": [ + 0, + 0.31807, + 0, + -0.94807 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.42923, + "euclidean_distance": 8.80779, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.54384, + 0.11628, + 3.87912 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "bfd18e7fa8894c26a00f0cad55b31f76", + "path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "0_edge_82_newN_0", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1" + ], + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + [ + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f" + ], + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3H7XDTSHKEUZ4SI90LE96DHKBF1WGD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.18809, + 3.11628, + -5.06213 + ], + "start_rotation": [ + 0, + 0.67751, + 0, + -0.73552 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.25344, + "euclidean_distance": 4.8642, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.99675, + 2.91628, + -4.16493 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "4e1ad142e5844d21a376040600184d9a", + "path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "refined_path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3B1NLC6UG1Z9KJL8OZ0EEJ9OIJLPG0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.76777, + 3.11628, + -5.48743 + ], + "start_rotation": [ + 0, + 0.2723, + 0, + 0.96221 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.81674, + "euclidean_distance": 6.9476, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.95479, + 2.91628, + -1.07662 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_73_newN_0", + "path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "9001b330086e4aa69799729560e6dca0", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa" + ], + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ], + "50629d10507840cba1ff155045d3f76b", + [ + "db59566f6465453d88a27b5bcb19b096" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:37XITHEISYCHFKLIZ58KTNOOL9CCR0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.54529, + 2.91628, + 3.37752 + ], + "start_rotation": [ + 0, + 0.98827, + 0, + 0.15271 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.5764, + "euclidean_distance": 2.66092, + "closest_goal_object_id": 174, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.83395, + 2.91628, + 0.79787 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "0_edge_77_newN_0", + "path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3A0EX8ZRNAR72G5YZ04JQZB36BDBYG", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.9315, + 0.11628, + 1.86918 + ], + "start_rotation": [ + 0, + 0.45453, + 0, + 0.89073 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 6.03807, + "euclidean_distance": 5.34843, + "closest_goal_object_id": 197, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 1.24346, + 0.11628, + 5.29417 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "0_edge_182_newN_0", + "path": [ + "dfa246b0d1fe4f08953b20151cf951c3", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_146_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "dfa246b0d1fe4f08953b20151cf951c3", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "dfa246b0d1fe4f08953b20151cf951c3", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a" + ], + "0_edge_146_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3IXEICO794M5FIP9T30C72XWD8A6TR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.46274, + 0.11628, + -2.86143 + ], + "start_rotation": [ + 0, + 0.8503, + 0, + 0.5263 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 7.91774, + "euclidean_distance": 7.24051, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.62591, + 0.11628, + -2.72976 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "8b8c58d65b3049ef8a844f237096b06d", + "path": [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:3KB8R4ZV1GA7GPKY5UIDJZ4Z1EDGBB", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.92674, + 0.11628, + -2.41033 + ], + "start_rotation": [ + 0, + 0.41821, + 0, + 0.90835 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 6.39801, + "euclidean_distance": 5.78069, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.65017, + 0.11628, + -2.70315 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_80_newN_0", + "path": [ + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "1d8256878b534440b5ba54b31bfb210b", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + [ + "0cd0dd452a324496afd701e1c4b2e973" + ], + "1d8256878b534440b5ba54b31bfb210b", + [ + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3U0SRXB7CF806OI9OVHY9YI0KCBNRC", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.06735, + 2.91628, + 5.93895 + ], + "start_rotation": [ + 0, + 0.24234, + 0, + 0.97019 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.65889, + "euclidean_distance": 10.71863, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.45853, + 2.91628, + -4.81463 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "0_edge_30_newN_0", + "path": [ + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1" + ], + "refined_path": [ + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + [ + "0_edge_30_newN_0" + ], + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3PM8NZGV80J56HHDDMF72AZTQ49XQV", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.50771, + 0.11628, + -2.11836 + ], + "start_rotation": [ + 0, + 0.98799, + 0, + -0.15449 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 15.84925, + "euclidean_distance": 5.59316, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.29689, + 2.91628, + 1.97661 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "5c3c7dfad2b3409182ecaf5535107dc5", + "path": [ + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "0_edge_210_newN_0", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3X4JMASXCOCA5L9DRSTAY7HJUYT0BZ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.94282, + 0.11628, + 3.64354 + ], + "start_rotation": [ + 0, + 0.59334, + 0, + 0.80496 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 14.48175, + "euclidean_distance": 13.35173, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.66924, + 0.11628, + -2.79781 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "6561b21dac894dfca3473db3037dbfad", + "path": [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A28AXX4NCWPH1F:3RU7GD8VPQWCAOUZJZUV3XSR6TJPSM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.58253, + 3.11628, + -3.1018 + ], + "start_rotation": [ + 0, + 0.97877, + 0, + 0.20494 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.75959, + "euclidean_distance": 2.86028, + "closest_goal_object_id": 120, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -2.64823, + 2.91628, + -0.93637 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3KOPY89HMA5C4W6MY7OAYTY35EK3JE", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.49244, + 2.91628, + 1.39624 + ], + "start_rotation": [ + 0, + 0.99743, + 0, + 0.07166 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.61567, + "euclidean_distance": 3.98599, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.00306, + 0.11628, + 2.52441 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "4bb7642a8af44f97acb81190589a3451", + "path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A2TRV8SEM003GG:3WJ1OXY92CJN409OGI6TWB3VVEVA8C", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.58863, + 3.11628, + -4.58494 + ], + "start_rotation": [ + 0, + 0.80426, + 0, + -0.59428 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 9.81713, + "euclidean_distance": 8.94841, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.5509, + 2.91628, + -0.83335 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3DI28L7YXCH8JD6FX2Z0DK6E2MDE1F", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.07609, + 0.11628, + -1.18583 + ], + "start_rotation": [ + 0, + 0.68048, + 0, + -0.73277 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 15.00407, + "euclidean_distance": 6.64373, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.25043, + 2.91628, + 1.9088 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "0cd0dd452a324496afd701e1c4b2e973", + "path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3XLBSAQ9Z6FK5UCDI5UMZ4Y9TFM7ZD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.01267, + 2.91628, + -1.46953 + ], + "start_rotation": [ + 0, + 0.46742, + 0, + -0.88404 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.72024, + "euclidean_distance": 5.5077, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.12405, + 0.11628, + 2.9044 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "3532b1e7ea1646848b710936d4696a5d", + "path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "dfa246b0d1fe4f08953b20151cf951c3" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "dfa246b0d1fe4f08953b20151cf951c3" + ], + "refined_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "dfa246b0d1fe4f08953b20151cf951c3" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:32SVAV9L3HC1333I41BX5UVKFSQ3A0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.52355, + 0.11628, + -2.65285 + ], + "start_rotation": [ + 0, + 0.08936, + 0, + -0.996 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 11.52346, + "euclidean_distance": 8.81516, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.27062, + 0.11628, + -4.22041 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "370411a65c3d4dc8bd475805ad0f4195", + "path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_146_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a" + ], + "0_edge_146_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3RGU30DZTCBDQIEW4PTPUS7956OJMZ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.17913, + 2.91628, + -7.40611 + ], + "start_rotation": [ + 0, + 0.93368, + 0, + -0.3581 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.77517, + "euclidean_distance": 6.69694, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.38038, + 2.91628, + -0.96799 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "0_edge_50_newN_0", + "path": [ + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:30BXRYBRP60D4ODKKRWRRDTLQGKHW5", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.91131, + 2.91628, + -1.66976 + ], + "start_rotation": [ + 0, + 0.76417, + 0, + -0.64501 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 15.79938, + "euclidean_distance": 12.75115, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.24291, + 0.11628, + 3.48687 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "2dea9de9cf5742398b17c3d6208bb56a", + "path": [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Go to the fireplace.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + [ + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3HQUKB7LNHHV7YIVPSARQAJYBSCHHA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.80882, + 0.11628, + 2.27146 + ], + "start_rotation": [ + 0, + 0.9677, + 0, + 0.25209 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.64409, + "euclidean_distance": 1.57063, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.15828, + 0.11628, + 1.5856 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "cdafd704291841daaa57ce008a95a06a", + "path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:32SCWG5HIJ77NQW2CMRS2SWZO4V6PQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.59226, + 0.11628, + 5.27168 + ], + "start_rotation": [ + 0, + 0.42137, + 0, + 0.90689 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.5103, + "euclidean_distance": 3.30399, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.10523, + 0.11628, + 2.03753 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "947f02de64db4ccbbe220a9f9124a815", + "path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "refined_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + [ + "947f02de64db4ccbbe220a9f9124a815" + ], + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:39PAAFCODO3QU84AUB8KJUDVUTYVTO", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.06487, + 0.11628, + -1.53584 + ], + "start_rotation": [ + 0, + 0.98013, + 0, + -0.19834 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.6295, + "euclidean_distance": 8.80778, + "closest_goal_object_id": 402, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.30097, + 0.11628, + 6.65811 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "8b55e4f095374cfe8ddb0fda0f0dfa02", + "path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + [ + "3c496aedd9d645a5b8d7a7b1b53f0636" + ], + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "AVASQBFN6J692:39PAAFCODO3QU84AUB8KJUDVUUNTVD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.04566, + 0.11628, + -2.46342 + ], + "start_rotation": [ + 0, + 0.60592, + 0, + 0.79552 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 10.31513, + "euclidean_distance": 7.56152, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.50764, + 0.11628, + -1.66773 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "eb3364f96bed4877b27ce5e0cfa32702", + "path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "b14dbfea048449aa8b8934cbf491a10a", + "0_edge_126_newN_0", + "0_edge_126_newN_1", + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "0_edge_126_newN_0", + "0_edge_126_newN_1", + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "b14dbfea048449aa8b8934cbf491a10a", + "0_edge_126_newN_0", + "0_edge_126_newN_1", + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3AAJC4I4FIVDPPDFJEJJ2U3IK55ZJL", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.78076, + 0.11628, + 5.16241 + ], + "start_rotation": [ + 0, + 0.85694, + 0, + 0.51542 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.00352, + "euclidean_distance": 6.02836, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.23993, + 0.11628, + 3.18545 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "71472b1d6fbf4d6192ed9917bff8dba7", + "path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3TMFV4NEPAHKBDCRHN2LE00MMLNW89", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.58759, + 2.91628, + 1.17326 + ], + "start_rotation": [ + 0, + 0.97908, + 0, + -0.20346 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.57936, + "euclidean_distance": 5.79813, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.25963, + 2.91628, + -0.40511 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "d339130a5534437da266a71435143314", + "path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3U088ZLJVMW2TO7OMJP6LLU43NGW0R", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.7228, + 0.11628, + 3.28719 + ], + "start_rotation": [ + 0, + 0.58129, + 0, + -0.8137 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.08597, + "euclidean_distance": 4.53821, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.23938, + 0.11628, + -1.22885 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "bfd18e7fa8894c26a00f0cad55b31f76", + "path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "refined_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ] + }, + { + "episode_id": "A2GQH4SWIOFH2L:3RGU30DZTCBDQIEW4PTPUS795ZIMJI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.76981, + 2.91628, + 3.79654 + ], + "start_rotation": [ + 0, + 0.66099, + 0, + -0.75039 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 14.42063, + "euclidean_distance": 3.33656, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.01266, + 0.11628, + 2.54244 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "0_edge_161_newN_0", + "path": [ + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "AVASQBFN6J692:3ZSANO2JCHA0JB555WYQR3EN3DCSFH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.70971, + 0.11628, + -3.99919 + ], + "start_rotation": [ + 0, + 0.95098, + 0, + 0.30926 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.18377, + "euclidean_distance": 6.63685, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.66498, + 0.11628, + 2.70632 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "0_edge_146_newN_0", + "path": [ + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "5d82955e203d447a901929bc53deefd0", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + [ + "1d8256878b534440b5ba54b31bfb210b" + ], + "5d82955e203d447a901929bc53deefd0", + [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3DQQ64TANIO5H5B8344W0MVCBT6PW1", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.16387, + 1.81273, + 0.77977 + ], + "start_rotation": [ + 0, + 0.91759, + 0, + -0.39753 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.66704, + "euclidean_distance": 3.30419, + "closest_goal_object_id": 398, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.22241, + 0.11628, + 3.40686 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "e0c61a2e0f9244cd8534e9ed8be96322", + "path": [ + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3SKRO2GZ73UB5DYPTOA3BFJJLAR1KL", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.43757, + 2.91628, + -4.16154 + ], + "start_rotation": [ + 0, + 0.98521, + 0, + -0.17133 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 12.14779, + "euclidean_distance": 9.02553, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.23639, + 0.11628, + 3.47287 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "0_edge_169_newN_0", + "path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Navigate to the fireplace.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + [ + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A2GQH4SWIOFH2L:3Z7EFSHGNBH1CG7U84ECI5ACMJ1CXM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.14, + 2.91628, + 3.03529 + ], + "start_rotation": [ + 0, + 0.80605, + 0, + -0.59185 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 13.41545, + "euclidean_distance": 7.11462, + "closest_goal_object_id": 79, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.00498, + 2.91628, + -4.02995 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "1e9bcf7676d44f2691efdeadc0d88d76", + "path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + [ + "1e9bcf7676d44f2691efdeadc0d88d76" + ], + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + [ + "d339130a5534437da266a71435143314" + ], + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b" + ], + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:36AHBNMV1TF0HD3IDWVPLPZ38I2YDU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.15499, + 3.11628, + -5.05468 + ], + "start_rotation": [ + 0, + 0.03897, + 0, + 0.99924 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.4341, + "euclidean_distance": 5.02594, + "closest_goal_object_id": 129, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -2.50668, + 2.91628, + -0.04492 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "723a213fbaa847f2a44feac9246fd7b1", + "path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71" + ], + "refined_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + [ + "0_edge_146_newN_0" + ], + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3OHYZ19UGE8QPSW4NZVPTXTV98YAOR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.12359, + 2.91628, + 3.10373 + ], + "start_rotation": [ + 0, + 0.91271, + 0, + 0.40862 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 13.83319, + "euclidean_distance": 3.51656, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.24874, + 0.11628, + 3.40991 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "0_edge_33_newN_1", + "path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Go to the fireplace.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3WAKVUDHUYJ3JVI3CIVEICJURQ37U6", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.12462, + 0.11628, + 2.80958 + ], + "start_rotation": [ + 0, + 0.99999, + 0, + 0.00484 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.60752, + "euclidean_distance": 4.24631, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.21737, + 2.91628, + -0.524 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "0_edge_102_newN_0", + "path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3MAOD8E57SDK3K4LXUNQYG4OKKLNXE", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.54374, + 2.91628, + 6.51287 + ], + "start_rotation": [ + 0, + 0.80052, + 0, + -0.5993 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.40341, + "euclidean_distance": 11.32086, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.4533, + 2.91628, + -4.70537 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "81df67c58e324caca152f29eb64f6993", + "path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + [ + "81df67c58e324caca152f29eb64f6993" + ], + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3S96KQ6I9O740R4O3Q8QD87OUO9TD6", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.168, + 2.91628, + -0.77334 + ], + "start_rotation": [ + 0, + 0.39005, + 0, + 0.9208 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.19418, + "euclidean_distance": 7.59181, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.54058, + 2.91628, + -4.70716 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "7cae5e5f8adf444d829c95b4a4412ffd", + "path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1" + ], + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3JMSRU9HQKXO5PMD4GJPK8DURJ9VEW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.14359, + 2.91628, + 3.80429 + ], + "start_rotation": [ + 0, + 0.98988, + 0, + -0.14191 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.32669, + "euclidean_distance": 8.58809, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.51339, + 2.91628, + -4.68122 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "0_edge_91_newN_1", + "path": [ + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1" + ], + "refined_path": [ + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1" + ], + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986" + ], + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + [ + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3TR2532VIRXB1FT4H9M85WANEUW6JA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.21676, + 2.91628, + 2.48145 + ], + "start_rotation": [ + 0, + 0.62395, + 0, + -0.78146 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.60408, + "euclidean_distance": 4.00925, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.04479, + 0.11628, + 2.54486 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "d339130a5534437da266a71435143314", + "path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3BGYGHDBBZNNDICVNM4DG27UXL122A", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.92518, + 0.11628, + 5.19822 + ], + "start_rotation": [ + 0, + 0.54865, + 0, + 0.83605 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.63854, + "euclidean_distance": 4.56852, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.30274, + 2.91628, + 1.81696 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "c0baa7759b714fa794ca1fabbd96a96b", + "path": [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:3U5NZHP4LT5NKFGJ85IWZJLPXDSHP9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.59826, + 2.91628, + -3.57153 + ], + "start_rotation": [ + 0, + 0.86921, + 0, + -0.49444 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.66214, + "euclidean_distance": 3.24052, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.27515, + 2.91628, + -0.41076 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "0_edge_9_newN_0", + "path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3P4RDNWND79RUZO5JAVX2Z0SNNEJI8", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.91932, + 2.91628, + 2.36008 + ], + "start_rotation": [ + 0, + 0.41008, + 0, + 0.91205 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.37711, + "euclidean_distance": 6.95371, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.05546, + 2.91628, + -0.90521 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "4bb7642a8af44f97acb81190589a3451", + "path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:340UGXU9D045ULJZUGYUOQZXC5WUV0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.16093, + 0.11628, + 1.1303 + ], + "start_rotation": [ + 0, + 0.39875, + 0, + -0.91706 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.71709, + "euclidean_distance": 5.64747, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.60091, + 0.11628, + 2.67464 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "3c5c466d4f64452a9e87c545d918c4eb", + "path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:39KFRKBFIPYRLAU73595WJB2D20YOV", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.19952, + 0.11628, + -2.83894 + ], + "start_rotation": [ + 0, + 0.25097, + 0, + 0.968 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.46065, + "euclidean_distance": 3.00175, + "closest_goal_object_id": 319, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.55254, + 0.11628, + -4.6274 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "0_edge_146_newN_0", + "path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "5d82955e203d447a901929bc53deefd0" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0" + ], + "refined_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + [ + "1d8256878b534440b5ba54b31bfb210b" + ], + "5d82955e203d447a901929bc53deefd0" + ] + }, + { + "episode_id": "A2J6S7QR4CGXTW:3QRYMNZ7F0KDM3V1SKMT9DJI8RLTNW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.27186, + 2.91628, + -1.03067 + ], + "start_rotation": [ + 0, + 0.98402, + 0, + -0.17806 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.20823, + "euclidean_distance": 3.72706, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.93826, + 2.91628, + -4.24886 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "0_edge_110_newN_0", + "path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ], + "refined_path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3CTOC39K39TU5F790JR0BAAJ97UJ74", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.45898, + 0.11628, + -5.79841 + ], + "start_rotation": [ + 0, + 0.58601, + 0, + -0.8103 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 4.91991, + "euclidean_distance": 4.49694, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.6254, + 0.11628, + -2.7541 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "dd6ae3e4669546a4a7fd78186723d12f", + "path": [ + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3OJSZ2ATDUZMYGSOBHN6A0RER6T750", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.20114, + 2.91628, + -1.72623 + ], + "start_rotation": [ + 0, + 0.00021, + 0, + -1 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.99184, + "euclidean_distance": 5.28923, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.20992, + 1.24009, + 1.43041 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "0c2a97f049db4a429776940850fedf2e", + "path": [ + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + [ + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3NKQQ8O3908J04JD3VY0I4TQCXMUDT", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.39725, + 2.91628, + -1.01825 + ], + "start_rotation": [ + 0, + 0.97972, + 0, + 0.20039 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.58274, + "euclidean_distance": 5.6141, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.01935, + 0.11628, + 2.61219 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "dcced7b92f444b9a83bd7d54413fa486", + "path": [ + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "refined_path": [ + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + [ + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3P1L2B7AD3S7LBN8KQKF2B963KQLOD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.12814, + 0.11628, + 1.61587 + ], + "start_rotation": [ + 0, + 0.78454, + 0, + -0.62008 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 1.91095, + "euclidean_distance": 1.74114, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.69714, + 0.11628, + 2.62321 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "db59566f6465453d88a27b5bcb19b096", + "path": [ + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3VBEN272MM26XB10GG489OEZ5VDSGO", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.35418, + 0.11628, + 4.26462 + ], + "start_rotation": [ + 0, + 0.96591, + 0, + -0.25888 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 14.62868, + "euclidean_distance": 3.84931, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.23427, + 2.91628, + 1.94365 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "71472b1d6fbf4d6192ed9917bff8dba7", + "path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3907X2AHF28J5PD1PKFPCFFN7RDP2V", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.11097, + 0.11628, + -0.66551 + ], + "start_rotation": [ + 0, + 0.99811, + 0, + -0.06144 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 16.17658, + "euclidean_distance": 8.12154, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.68218, + 0.11628, + 6.89183 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "8b55e4f095374cfe8ddb0fda0f0dfa02", + "path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:33CKWXB73LN9ZCC3LE4L60NKD7P11N", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.36056, + 2.91628, + 1.43011 + ], + "start_rotation": [ + 0, + 0.99691, + 0, + 0.07856 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 11.8126, + "euclidean_distance": 4.51782, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.30781, + 0.11628, + 3.41978 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Go to the fireplace.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3B2X28YI3YI5JWVSTH9R78RA7TBB6R", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.7134, + 0.11628, + -5.57272 + ], + "start_rotation": [ + 0, + 0.43696, + 0, + 0.89948 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 9.7774, + "euclidean_distance": 7.76872, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.20124, + 0.11628, + -3.79784 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "723a213fbaa847f2a44feac9246fd7b1", + "path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "refined_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3FE2ERCCZZBXCW26CIDMJSIQ9YVPOS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.73733, + 2.91628, + -1.52662 + ], + "start_rotation": [ + 0, + 0.54128, + 0, + -0.84084 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.58729, + "euclidean_distance": 8.65378, + "closest_goal_object_id": 79, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.13658, + 2.91628, + -4.03937 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "743e6d37beae4b6482a43ae41e634e67", + "path": [ + "743e6d37beae4b6482a43ae41e634e67", + "0_edge_122_newN_0", + "f3dd1c323fde4f6fa5056433cdd92fa7", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "4bb7642a8af44f97acb81190589a3451", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0_edge_77_newN_1", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "743e6d37beae4b6482a43ae41e634e67", + "0_edge_122_newN_0", + "f3dd1c323fde4f6fa5056433cdd92fa7", + "0_edge_122_newN_0", + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "743e6d37beae4b6482a43ae41e634e67", + "0_edge_122_newN_0", + "f3dd1c323fde4f6fa5056433cdd92fa7", + [ + "0_edge_122_newN_0", + "743e6d37beae4b6482a43ae41e634e67" + ], + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + [ + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + [ + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16" + ], + "4bb7642a8af44f97acb81190589a3451", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314" + ], + "0_edge_77_newN_1", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3A1PQ49WVJKK3NXHN376YN3RTOY1HI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.19011, + 0.11628, + 0.76185 + ], + "start_rotation": [ + 0, + 0.513, + 0, + 0.85839 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.75959, + "euclidean_distance": 3.29145, + "closest_goal_object_id": 365, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.13478, + 0.11628, + -2.37845 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "db59566f6465453d88a27b5bcb19b096", + "path": [ + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a" + ], + "refined_path": [ + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3FDJT1UU76BATVZ8UBCFE5W0XO9K5V", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.36605, + 0.11628, + -3.56072 + ], + "start_rotation": [ + 0, + 0.66454, + 0, + 0.74725 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.00001, + "euclidean_distance": 6.05317, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.28173, + 0.11628, + -1.89813 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "1d8256878b534440b5ba54b31bfb210b", + "path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3HSYG7LRBL1DBEKB1YGLGUFIUFIKKW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.83082, + 0.11628, + 3.03126 + ], + "start_rotation": [ + 0, + 0.66463, + 0, + 0.74717 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 1.91707, + "euclidean_distance": 1.64153, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.19993, + 0.55086, + 2.5012 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "dde66ea80aca47968d3ec9c6e6ef3c0a", + "path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_80_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_0", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_204_newN_0" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b" + ], + "refined_path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + [ + "0cd0dd452a324496afd701e1c4b2e973" + ], + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b" + ], + "0_edge_80_newN_0", + [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + [ + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_146_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + [ + "db59566f6465453d88a27b5bcb19b096" + ], + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786" + ], + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3OF2M9AATIR809JX1ZJV393VZWAKZE", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.75445, + 3.11628, + -5.4418 + ], + "start_rotation": [ + 0, + 0.05993, + 0, + 0.9982 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 16.07909, + "euclidean_distance": 13.75177, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.60592, + 0.11628, + 7.06073 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_73_newN_0", + "path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa" + ], + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33CUSNVVNPF9LCG9JKMF0KX05JH88E", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.20999, + 0.11628, + 3.44333 + ], + "start_rotation": [ + 0, + 0.1793, + 0, + 0.98379 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 7.99858, + "euclidean_distance": 7.26815, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.08144, + 0.11628, + -3.75619 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "32fb55017460457cbe0b8d1790a54786", + "path": [ + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "refined_path": [ + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3GNA64GUZG7W4YX37GWCAR89XZCQ5F", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.97338, + 2.91628, + 6.20359 + ], + "start_rotation": [ + 0, + 0.66401, + 0, + -0.74772 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 14.4762, + "euclidean_distance": 6.55953, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.024, + 0.11628, + 2.93064 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "eba5ca774e2a41dfa6e22fbff7fe66d2", + "path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:3DY46V3X3RL7BCE5NO89CGDI0YI55Z", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.05806, + 2.91628, + -1.262 + ], + "start_rotation": [ + 0, + 0.66466, + 0, + -0.74715 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.58742, + "euclidean_distance": 5.28069, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.92002, + 0.11628, + 3.20693 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "3532b1e7ea1646848b710936d4696a5d", + "path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3L6L49WXW20PFTA59JPZ7O7417I540", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.99464, + 0.11628, + 2.2755 + ], + "start_rotation": [ + 0, + 0.78236, + 0, + 0.62282 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 8.01144, + "euclidean_distance": 7.20384, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.12331, + 0.11628, + -4.1038 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "50629d10507840cba1ff155045d3f76b", + "path": [ + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + [ + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3BXQMRHWK11M4YPQGOX31UGKL8OMU7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.59754, + 0.11628, + 0.05561 + ], + "start_rotation": [ + 0, + 0.80331, + 0, + 0.59557 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.70259, + "euclidean_distance": 3.4749, + "closest_goal_object_id": 370, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.3715, + 0.11628, + -1.44542 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "ed7387d968874f4bbe512395b64405af", + "path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "refined_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3PJUZCGDJ8J9ZHZJOCST0GSBOME89B", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.74331, + 0.11628, + -0.89851 + ], + "start_rotation": [ + 0, + 0.95976, + 0, + 0.28082 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.48991, + "euclidean_distance": 3.18585, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.59569, + 0.11628, + -4.12719 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "8b55e4f095374cfe8ddb0fda0f0dfa02", + "path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d" + ], + "refined_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3VJ40NV2QKQV4OVDTZM6O2JNXXGOTN", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.10669, + 0.11628, + -2.43403 + ], + "start_rotation": [ + 0, + 0.87278, + 0, + -0.48812 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 2.24059, + "euclidean_distance": 2.07563, + "closest_goal_object_id": 422, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.57044, + 0.11628, + -0.40495 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "1d8256878b534440b5ba54b31bfb210b", + "path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:37WLF8U1WRT6CZZMZUMK6BA0UO66KU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.91868, + 0.11628, + 1.35825 + ], + "start_rotation": [ + 0, + 0.69008, + 0, + -0.72373 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 10.9466, + "euclidean_distance": 7.07022, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.18262, + 2.91628, + -0.55623 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "19c6928f8cc64d7aa2d18a48e3b4ee21", + "path": [ + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A302KOFOYLD89A:3KXIR214I6JXGWRIR0N19H4SH0G42T", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.975, + 2.52862, + -0.19038 + ], + "start_rotation": [ + 0, + 0.55694, + 0, + 0.83055 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 7.8682, + "euclidean_distance": 6.13833, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.2929, + 0.11628, + 3.44231 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "9001b330086e4aa69799729560e6dca0", + "path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Go to the fireplace.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0" + ], + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3CN4LGXD5ZRNHHKPKLUWIL5XWFE4YD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.46117, + 0.11628, + 2.73055 + ], + "start_rotation": [ + 0, + 0.92841, + 0, + -0.37155 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.09866, + "euclidean_distance": 5.59546, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.25181, + 2.91628, + -0.35399 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "50629d10507840cba1ff155045d3f76b", + "path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A3G5OWGKHW6OL5:317HQ483I9VNDPFQY8NPV6H9XDAINF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.85829, + 3.11628, + -3.27385 + ], + "start_rotation": [ + 0, + 0.70909, + 0, + -0.70511 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 8.2319, + "euclidean_distance": 7.26391, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.61058, + 2.91628, + -0.5828 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:32AT8R96GNCP2T2V0LTPD3FQD1USUL", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.52675, + 0.11628, + -3.92878 + ], + "start_rotation": [ + 0, + 0.41006, + 0, + -0.91206 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.00461, + "euclidean_distance": 9.42071, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 0.675, + 0.11628, + 0.50805 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_73_newN_0", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_1", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ], + "0_edge_146_newN_1", + [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b" + ], + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:3C5W7UE9CHTEL2JLLT8QL1FOGZTXMH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.15407, + 2.91628, + -1.17266 + ], + "start_rotation": [ + 0, + 0.15306, + 0, + 0.98822 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 6.90775, + "euclidean_distance": 5.6858, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.95743, + 2.91628, + -4.19269 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "7cae5e5f8adf444d829c95b4a4412ffd", + "path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "refined_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3AAPLD8UCEKLC79QPMRG4TMMLCXHTP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.39143, + 3.11628, + -3.63485 + ], + "start_rotation": [ + 0, + 0.97175, + 0, + 0.236 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.01503, + "euclidean_distance": 7.3223, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.6113, + 2.91628, + -4.79738 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3VBEN272MM26XB10GG489OEZ5VZGSY", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.62299, + 0.11628, + 0.77802 + ], + "start_rotation": [ + 0, + 0.99415, + 0, + -0.10799 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.10048, + "euclidean_distance": 2.88739, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.32844, + 0.11628, + -1.75992 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "3c5c466d4f64452a9e87c545d918c4eb", + "path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:36U2A8VAG328VJ9S5DHCP2UTTYPYKC", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.35852, + 2.91628, + 6.14253 + ], + "start_rotation": [ + 0, + 0.45277, + 0, + -0.89163 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 16.79928, + "euclidean_distance": 3.42172, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.48657, + 0.11628, + 7.02971 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "eba5ca774e2a41dfa6e22fbff7fe66d2", + "path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3M1CVSFP628TA49K2CNTI2OVPD7QAF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.86063, + 0.11628, + 2.51488 + ], + "start_rotation": [ + 0, + 0.54872, + 0, + -0.836 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.3819, + "euclidean_distance": 6.82728, + "closest_goal_object_id": 427, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.68709, + 0.11628, + 1.97814 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "bfd18e7fa8894c26a00f0cad55b31f76", + "path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ], + "refined_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:33SA9F9TRZX1KEMIUQOL6AW8YTTWER", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.7896, + 2.91628, + 3.59618 + ], + "start_rotation": [ + 0, + 0.8258, + 0, + -0.56396 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.55915, + "euclidean_distance": 6.22243, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.96474, + 2.91628, + -1.07602 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0bcfce0d81294b7e84a7eed52cb04a4e", + "path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "refined_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ] + }, + { + "episode_id": "ARQR5NIFA1AJ:3SLE99ER0PG776F3VM6246K5BQKBZF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.32445, + 2.91628, + -0.94829 + ], + "start_rotation": [ + 0, + 0.94676, + 0, + -0.32194 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.30448, + "euclidean_distance": 5.37971, + "closest_goal_object_id": 87, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.22865, + 2.91628, + -4.3472 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "0c2a97f049db4a429776940850fedf2e", + "path": [ + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:3MYYFCXHJ5ANVQZPQF8QBLYTQB1G4N", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.19968, + 2.91628, + 3.73439 + ], + "start_rotation": [ + 0, + 0.28142, + 0, + -0.95959 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 2.84268, + "euclidean_distance": 1.63114, + "closest_goal_object_id": 25, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.60866, + 2.91628, + 2.07388 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "0_edge_33_newN_1", + "path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1" + ], + "refined_path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3ERMJ6L4D0VK6NDU3G4SR220E4BM74", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.49357, + 2.91628, + 6.24962 + ], + "start_rotation": [ + 0, + 0.91708, + 0, + 0.3987 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.19668, + "euclidean_distance": 5.35226, + "closest_goal_object_id": 41, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.15293, + 3.06383, + 1.33085 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "eba5ca774e2a41dfa6e22fbff7fe66d2", + "path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3M0BCWMB8XZ3DBAYKZMV52QNUPRBW2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.61574, + 0.11628, + -1.48709 + ], + "start_rotation": [ + 0, + 0.24289, + 0, + -0.97005 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.15004, + "euclidean_distance": 2.99651, + "closest_goal_object_id": 291, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.01181, + 0.11628, + -4.14116 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "5c3c7dfad2b3409182ecaf5535107dc5", + "path": [ + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1" + ], + "refined_path": [ + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3YDGXNSEO1X82BT77HW2J8HV2PI48J", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.4706, + 0.11628, + -4.108 + ], + "start_rotation": [ + 0, + 0.88291, + 0, + 0.46955 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.68164, + "euclidean_distance": 2.09243, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.34161, + 0.11628, + -4.34824 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_0", + "0_edge_146_newN_1" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b" + ], + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_146_newN_0", + "0_edge_146_newN_1" + ] + }, + { + "episode_id": "A2XS49LRNX8PD4:3Y4W8Q93L1NJDJ8D8L85EQV9R92DVJ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.06694, + 0.11628, + -2.62108 + ], + "start_rotation": [ + 0, + 0.97138, + 0, + 0.23752 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 14.23618, + "euclidean_distance": 12.63424, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.74625, + 0.11628, + -2.75316 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "370411a65c3d4dc8bd475805ad0f4195", + "path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3VFJCI1K412UWW1N1R43JE93JUSRGZ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.9077, + 2.91628, + -1.27616 + ], + "start_rotation": [ + 0, + 0.1084, + 0, + 0.99411 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.65521, + "euclidean_distance": 5.31998, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.18381, + 0.11628, + 2.95392 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "3532b1e7ea1646848b710936d4696a5d", + "path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3AUQQEL7U7WPEZ7JW9KAZJBQWFKV0O", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.57074, + 2.91628, + -4.47321 + ], + "start_rotation": [ + 0, + 0.53026, + 0, + 0.84784 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.99541, + "euclidean_distance": 8.23624, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.06003, + 0.11628, + 2.91837 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "0_edge_169_newN_0", + "path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "refined_path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3X3OR7WPZ1340J0SD9VJ5PJ6PL38LR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.76949, + 2.91628, + -0.7911 + ], + "start_rotation": [ + 0, + 0.97252, + 0, + 0.23281 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 14.80749, + "euclidean_distance": 11.64255, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.27373, + 0.11628, + 3.46424 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "2dea9de9cf5742398b17c3d6208bb56a", + "path": [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5" + ], + "instruction": "Navigate to the fireplace.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "refined_path": [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + [ + "32fb55017460457cbe0b8d1790a54786" + ], + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:32M8BPYGAVPH3XY4B4AU5M8CWZJGIW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.98219, + 0.11628, + 1.22946 + ], + "start_rotation": [ + 0, + 0.58478, + 0, + 0.81119 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 9.09314, + "euclidean_distance": 8.24177, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.07926, + 0.11628, + -4.08124 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "cdafd704291841daaa57ce008a95a06a", + "path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679" + ], + "refined_path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:30MVJZJNHOGYJYV2FGPKP61P4TM9J2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.01892, + 2.64137, + -0.35789 + ], + "start_rotation": [ + 0, + 0.43085, + 0, + 0.90242 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.39417, + "euclidean_distance": 3.99846, + "closest_goal_object_id": 87, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.17718, + 2.91628, + -4.40414 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "9001b330086e4aa69799729560e6dca0", + "path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3GA6AFUKOQRGDQBWA7LPMGIOSJ6H37", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.19936, + 0.11628, + -0.87951 + ], + "start_rotation": [ + 0, + 0.9521, + 0, + 0.30578 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 13.03018, + "euclidean_distance": 4.42722, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.26157, + 0.11628, + 3.38415 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "8b55e4f095374cfe8ddb0fda0f0dfa02", + "path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "instruction": "Locate the fireplace.", + "instr_encoding": [ + 101, + 12453, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "refined_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3WRFBPLXRCR8NMX7D5G2R0FKDNWN3M", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.85279, + 2.91628, + 2.80698 + ], + "start_rotation": [ + 0, + 0.72201, + 0, + 0.69189 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 10.44367, + "euclidean_distance": 4.01836, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.21975, + 1.27877, + 1.37071 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "0_edge_77_newN_1", + "path": [ + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "743e6d37beae4b6482a43ae41e634e67", + "0_edge_122_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "743e6d37beae4b6482a43ae41e634e67", + "0_edge_122_newN_0", + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "743e6d37beae4b6482a43ae41e634e67", + "0_edge_122_newN_0", + [ + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3R6BYFZZP9F8FSR4Z64DQBVFJVXXFK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.48797, + 0.11628, + -3.69529 + ], + "start_rotation": [ + 0, + 0.99924, + 0, + -0.03892 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.82662, + "euclidean_distance": 9.27885, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 0.83355, + 0.11628, + 0.5252 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "1d8256878b534440b5ba54b31bfb210b", + "path": [ + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "0_edge_147_newN_1", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ], + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_147_newN_1", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1" + ], + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b" + ], + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:38JBBYETQQDPBC3YKKI2BIDHE0UE4N", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.08127, + 2.91628, + 0.40745 + ], + "start_rotation": [ + 0, + 0.95858, + 0, + -0.28482 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.73685, + "euclidean_distance": 5.40236, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.67184, + 2.91628, + -4.77974 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "625eb179629b45f280c01d3f6ec74b4f", + "path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0" + ], + "refined_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + [ + "0_edge_9_newN_0" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:333U7HK6IBIAMO8JRWUMB2KFWLQJDX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.55644, + 3.11628, + -4.09998 + ], + "start_rotation": [ + 0, + 0.92301, + 0, + 0.38478 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.60908, + "euclidean_distance": 5.47192, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.98969, + 2.91628, + -1.08704 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "34a370fe2d1840e196a491db1e995e16", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3VFJCI1K412UWW1N1R43JE93IR0GRP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.58877, + 3.11628, + -3.81022 + ], + "start_rotation": [ + 0, + 0.25087, + 0, + 0.96802 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 14.68532, + "euclidean_distance": 11.72029, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.23135, + 0.11628, + 3.52347 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Navigate to the fireplace.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:33TIN5LC06DOENQ11GQNZTGDHZ1Y9V", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.53928, + 0.11628, + -5.98609 + ], + "start_rotation": [ + 0, + 0.21244, + 0, + -0.97717 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 13.13579, + "euclidean_distance": 12.0002, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.60354, + 0.11628, + 3.62789 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "723a213fbaa847f2a44feac9246fd7b1", + "path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_146_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a" + ], + "0_edge_146_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54" + ], + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:3O6CYIULEF4I9AJ4KQ3QASIBJEAWUO", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.83259, + 2.91628, + 6.22158 + ], + "start_rotation": [ + 0, + 0.35293, + 0, + 0.93565 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 8.03347, + "euclidean_distance": 6.97673, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.54382, + 2.91628, + -0.78781 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "5635036d3bfb483eac283af7bb5ac986", + "path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986" + ], + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:392CY0QWG3U1RH5KG38TWXB95QQ4I4", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.50063, + 0.15566, + 2.96622 + ], + "start_rotation": [ + 0, + 0.49278, + 0, + 0.87016 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 7.96133, + "euclidean_distance": 7.17374, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.07291, + 0.11628, + -4.08175 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "fea7a9db41944d76b258036b046d13aa", + "path": [ + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "refined_path": [ + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + [ + "8f5a767771964a56b3708d5415c446b2" + ], + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:35LDD5557C7812KEMAT1V77MKQ0MK3", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.6097, + 0.11628, + 0.24686 + ], + "start_rotation": [ + 0, + 0.91722, + 0, + -0.39837 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 15.43651, + "euclidean_distance": 13.41497, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.74809, + 0.11628, + -2.73861 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "181c56d99ddd42ba8d4be09dbb135381", + "path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3907X2AHF28J5PD1PKFPCFFN7RR2PM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.92427, + 2.91628, + 3.68425 + ], + "start_rotation": [ + 0, + 0.92511, + 0, + -0.3797 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 18.38507, + "euclidean_distance": 4.70648, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.73948, + 0.11628, + 6.95517 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "1e9bcf7676d44f2691efdeadc0d88d76", + "path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_9_newN_0", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1", + "0_edge_50_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + [ + "1e9bcf7676d44f2691efdeadc0d88d76" + ], + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1" + ], + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_50_newN_0", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + [ + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3AMW0RGHOF5FUB2UB3D943ILIKXNP9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.13546, + 0.11628, + -2.23937 + ], + "start_rotation": [ + 0, + 0.86615, + 0, + -0.49978 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 3.19564, + "euclidean_distance": 2.6095, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.34227, + 0.11628, + -3.63106 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "0_edge_80_newN_0", + "path": [ + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "refined_path": [ + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:36PW28KO41Z4D1JFTLSTOLZH532EAV", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.62784, + 3.11628, + -5.34855 + ], + "start_rotation": [ + 0, + 0.92197, + 0, + 0.38725 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.54581, + "euclidean_distance": 6.10946, + "closest_goal_object_id": 129, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -2.51301, + 2.91628, + -0.18058 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "4e1ad142e5844d21a376040600184d9a", + "path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ], + "refined_path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3NGMS9VZTNLRF60JZCYRK4V8ENWFFZ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.33202, + 3.11628, + -3.90631 + ], + "start_rotation": [ + 0, + 0.99814, + 0, + -0.06099 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 11.50542, + "euclidean_distance": 8.94742, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.87689, + 0.11628, + 3.15161 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3G2UL9A02FHIHKS2G0XB265ENXJ67M", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.6839, + 0.11628, + -5.62597 + ], + "start_rotation": [ + 0, + 0.99931, + 0, + 0.03716 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 12.90035, + "euclidean_distance": 11.62571, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.64173, + 0.11628, + 3.64566 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "723a213fbaa847f2a44feac9246fd7b1", + "path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_146_newN_2", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_146_newN_2", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1" + ], + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3ND9UOO81M5FQKWABCBPJ5MS7PLLWS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.57992, + 2.91628, + -3.9305 + ], + "start_rotation": [ + 0, + 0.97054, + 0, + 0.24093 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.55483, + "euclidean_distance": 8.13811, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.08382, + 0.11628, + 2.92948 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "0_edge_9_newN_0", + "path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3U8YCDAGXRJX9RB2AAQ0TWCIGTS0QZ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.1395, + 2.91628, + -1.93233 + ], + "start_rotation": [ + 0, + 0.21986, + 0, + -0.97553 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.3176, + "euclidean_distance": 5.38653, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.05183, + 0.11628, + 2.65351 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "3532b1e7ea1646848b710936d4696a5d", + "path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:30LB5CDZNED6NJCTX69DKPOMKRTZ0X", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.35952, + 2.91628, + 2.9846 + ], + "start_rotation": [ + 0, + 0.13306, + 0, + 0.99111 + ], + "object_category": "table", + "info": { + "geodesic_distance": 7.01186, + "euclidean_distance": 5.56517, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.49693, + 2.91628, + -1.18784 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "374e664207754a3b95a7d8010e122296", + "path": [ + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "refined_path": [ + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "eba5ca774e2a41dfa6e22fbff7fe66d2", + [ + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ] + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3SB4CE2TJXYDJ1AWOQILCAKOMJPXAK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.71672, + 2.91628, + -1.11811 + ], + "start_rotation": [ + 0, + 0.82381, + 0, + 0.56686 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.76496, + "euclidean_distance": 5.76004, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.98681, + 0.11628, + 3.21471 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "addb4d69f82243fb9a38c4d615651ba7", + "path": [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "8f25ebb1c23d4fddb035eb336426d5fa", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3K5TEWLKGXE0LUOZ0Z9G5NBMIAJIVQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.95547, + 0.11628, + 1.2948 + ], + "start_rotation": [ + 0, + 0.97648, + 0, + 0.2156 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 9.12025, + "euclidean_distance": 8.30484, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.05359, + 0.11628, + -4.06782 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "cdafd704291841daaa57ce008a95a06a", + "path": [ + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679" + ], + "refined_path": [ + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a" + ], + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679" + ] + }, + { + "episode_id": "AY7WPVKHVNBLG:3ZSANO2JCHA0JB555WYQR3EN3ELFSF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.66017, + 2.91628, + 1.7851 + ], + "start_rotation": [ + 0, + 0.99163, + 0, + -0.12909 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 5.6816, + "euclidean_distance": 2.68884, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.57473, + 2.91628, + -0.78603 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:31QNSG6A5TW5LYBQ9FU9MK15UYN871", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.1833, + 0.11628, + -5.66756 + ], + "start_rotation": [ + 0, + 0.1303, + 0, + 0.99147 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.31548, + "euclidean_distance": 8.30633, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.16684, + 0.11628, + -3.81635 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "0_edge_147_newN_0", + "path": [ + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "refined_path": [ + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3OF2M9AATIR809JX1ZJV393VZUHKZH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.73603, + 2.91628, + -1.45312 + ], + "start_rotation": [ + 0, + 0.63564, + 0, + 0.77199 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.43105, + "euclidean_distance": 4.47964, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.81467, + 2.91628, + 1.83374 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "3532b1e7ea1646848b710936d4696a5d", + "path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3BF51CHDTXDKWYCZRK36KIKHP3P0HQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.48686, + 0.11628, + 2.85611 + ], + "start_rotation": [ + 0, + 0.52213, + 0, + 0.85287 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.21395, + "euclidean_distance": 5.55361, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.17068, + 0.11628, + -1.27837 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "b14dbfea048449aa8b8934cbf491a10a", + "path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3EO896NRAYYH3D4GDMU1G621Z9ZTJF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.52342, + 0.11628, + 1.77227 + ], + "start_rotation": [ + 0, + 0.10817, + 0, + 0.99413 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 11.79028, + "euclidean_distance": 3.30588, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.32172, + 2.91628, + 1.83368 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "3c5c466d4f64452a9e87c545d918c4eb", + "path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_210_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + [ + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "AE861G0AY5RGT:39GHHAVOMHUXMSPQYLTT8YQ9I5CJ4S", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.23629, + 0.11628, + 2.38743 + ], + "start_rotation": [ + 0, + 0.89547, + 0, + 0.44511 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 1.68283, + "euclidean_distance": 1.01135, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.30547, + 0.47447, + 2.58127 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "dde66ea80aca47968d3ec9c6e6ef3c0a", + "path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "refined_path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:354P56DE9M6N4IQZND0E3B165QS7ST", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.30419, + 0.11628, + 7.00483 + ], + "start_rotation": [ + 0, + 0.64197, + 0, + -0.76673 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 10.01036, + "euclidean_distance": 3.68312, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.57223, + 0.11628, + 7.00391 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "a844e7823fe4425f96a265b8fc557cb7", + "path": [ + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:30JNVC0ORBN8KRHY8IXLZOBZ2BDHQ3", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.34856, + 2.91628, + -3.74219 + ], + "start_rotation": [ + 0, + 0.64737, + 0, + -0.76218 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.48171, + "euclidean_distance": 7.24668, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.07301, + 0.11628, + 2.57789 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "0_edge_9_newN_0", + "path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3A0EX8ZRNAR72G5YZ04JQZB366OYB4", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.387, + 0.11628, + -3.90041 + ], + "start_rotation": [ + 0, + 0.2973, + 0, + 0.95478 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.64919, + "euclidean_distance": 10.9326, + "closest_goal_object_id": 402, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.17698, + 0.11628, + 6.78821 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "eb3364f96bed4877b27ce5e0cfa32702", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + [ + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + [ + "db59566f6465453d88a27b5bcb19b096" + ], + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3L6L49WXW20PFTA59JPZ7O741A845V", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.78609, + 0.11628, + 1.37631 + ], + "start_rotation": [ + 0, + 0.85376, + 0, + 0.52066 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.83441, + "euclidean_distance": 3.65003, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.8938, + 0.11628, + 3.22017 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "db59566f6465453d88a27b5bcb19b096", + "path": [ + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0" + ], + "refined_path": [ + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:3K772S5NPAEJNORTZR2L57MLI18EHS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.69679, + 2.91628, + -1.12216 + ], + "start_rotation": [ + 0, + 0.99505, + 0, + 0.09936 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.74158, + "euclidean_distance": 5.08843, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.02079, + 0.11628, + 3.16794 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "5f4fd3bd58144211a8617caa5570e40c", + "path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + [ + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:339ANSOTR75M5JUN1VV93E053IFIKK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.47641, + 2.91628, + -6.89503 + ], + "start_rotation": [ + 0, + 0.99917, + 0, + 0.04067 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.81289, + "euclidean_distance": 5.78018, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.63936, + 2.91628, + -1.44354 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "f1b5f89d2b0a46449f374351c1579c80", + "path": [ + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930" + ], + "refined_path": [ + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3EJPLAJKEOJ11UY8ZVPUTQYDXSY6ZK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.24429, + 0.11628, + 6.90916 + ], + "start_rotation": [ + 0, + 0.86801, + 0, + 0.49655 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 12.13295, + "euclidean_distance": 11.06573, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.25622, + 0.11628, + -3.78641 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "a844e7823fe4425f96a265b8fc557cb7", + "path": [ + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_146_newN_0", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "refined_path": [ + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a" + ], + "0_edge_146_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b" + ], + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + [ + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3WRFBPLXRCR8NMX7D5G2R0FKETWN3Z", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.38919, + 2.91628, + -3.58599 + ], + "start_rotation": [ + 0, + 0.55923, + 0, + 0.82901 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.91717, + "euclidean_distance": 3.54988, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.58608, + 2.91628, + -1.44827 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "d804a36fe0fc40dfb8f03ca3758ce904", + "path": [ + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3OCHAWUVGQNJVEJI0HVA6ONKRRIXKQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.46616, + 2.91628, + -0.00855 + ], + "start_rotation": [ + 0, + 0.73264, + 0, + 0.68062 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.24929, + "euclidean_distance": 4.47638, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.99117, + 0.11628, + 2.62693 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "625eb179629b45f280c01d3f6ec74b4f", + "path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f" + ], + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + [ + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:36PW28KO41Z4D1JFTLSTOLZH56IAED", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.62063, + 0.11628, + -3.70765 + ], + "start_rotation": [ + 0, + 0.75482, + 0, + 0.65593 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 14.0541, + "euclidean_distance": 11.49107, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.65401, + 0.11628, + 7.09668 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "674b3b6705604a4c8b89182edee11e54", + "path": [ + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + [ + "674b3b6705604a4c8b89182edee11e54" + ], + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3P1L2B7AD3S7LBN8KQKF2B964QULOU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.71549, + 2.91628, + 3.64205 + ], + "start_rotation": [ + 0, + 0.77764, + 0, + 0.62871 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 15.33166, + "euclidean_distance": 4.9022, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.14085, + 2.91628, + 1.9766 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "1e9bcf7676d44f2691efdeadc0d88d76", + "path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + [ + "1e9bcf7676d44f2691efdeadc0d88d76" + ], + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3D3VGR7TA2IT2KPZ6CXJ0KKUEM7R34", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.34637, + 0.11628, + -0.6829 + ], + "start_rotation": [ + 0, + 0.04673, + 0, + -0.99891 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 15.66743, + "euclidean_distance": 8.59684, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.54465, + 0.11628, + 7.02226 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_2_newN_0", + "path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + [ + "674b3b6705604a4c8b89182edee11e54" + ], + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3VNL7UK1XHM1YBIKUW3G18A95WITFZ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.39341, + 2.91628, + -7.21213 + ], + "start_rotation": [ + 0, + 0.86973, + 0, + -0.49354 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.35546, + "euclidean_distance": 10.4118, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.03743, + 0.11628, + 2.61151 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "f1b5f89d2b0a46449f374351c1579c80", + "path": [ + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "32fb55017460457cbe0b8d1790a54786" + ], + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3ATPCQ38JAD2J606TM4NVORXNFDYA0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.68546, + 0.11628, + -1.71934 + ], + "start_rotation": [ + 0, + 0.92016, + 0, + 0.39153 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.7019, + "euclidean_distance": 2.43583, + "closest_goal_object_id": 291, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.92823, + 0.11628, + -4.12192 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "1f7f69e3874c48b8b9caf0548240603f", + "path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A2FUNB3BUB3U07:382M9COHEJIOSAXDZQ9KOMBBDGWUEA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.64148, + 2.91628, + -1.67413 + ], + "start_rotation": [ + 0, + 0.80171, + 0, + 0.59772 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.0933, + "euclidean_distance": 5.55398, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.07041, + 0.11628, + 2.90573 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "3532b1e7ea1646848b710936d4696a5d", + "path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "refined_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + [ + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:3RRCEFRB7OFR49REATGCAA7WAZD4B0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.79478, + 2.91628, + 1.67795 + ], + "start_rotation": [ + 0, + 0.66655, + 0, + 0.74546 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.74953, + "euclidean_distance": 4.98871, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.07974, + 2.91628, + -0.93174 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "d339130a5534437da266a71435143314", + "path": [ + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3XXU1SWE8OY5MB4LLETE3WXDCAHA0B", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.43368, + 0.11628, + 0.02737 + ], + "start_rotation": [ + 0, + 0.84287, + 0, + 0.53811 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.28747, + "euclidean_distance": 12.24619, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.71791, + 0.11628, + -1.65881 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "181c56d99ddd42ba8d4be09dbb135381", + "path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ], + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:3PS7W85Z815SX1R7RA3ORCOY33T9T4", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.75992, + 0.11628, + 5.77656 + ], + "start_rotation": [ + 0, + 0.37896, + 0, + 0.92541 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.89326, + "euclidean_distance": 9.25223, + "closest_goal_object_id": 427, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.73698, + 0.11628, + 2.00818 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "947f02de64db4ccbbe220a9f9124a815", + "path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + [ + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3AMW0RGHOF5FUB2UB3D943ILIKOPN2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.14702, + 0.11628, + 2.06242 + ], + "start_rotation": [ + 0, + 0.24384, + 0, + -0.96982 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 14.03323, + "euclidean_distance": 12.08615, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.2181, + 0.11628, + -4.00166 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "bfd18e7fa8894c26a00f0cad55b31f76", + "path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3EFE17QCRE8KX7WB0MMQUOQ0KWTSHS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.11306, + 0.11628, + -2.88398 + ], + "start_rotation": [ + 0, + 0.38348, + 0, + 0.92355 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 18.52737, + "euclidean_distance": 12.46442, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.64975, + 0.11628, + 6.92032 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "370411a65c3d4dc8bd475805ad0f4195", + "path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3NXNZ5RS1C05Z3U0E70NMGWGDYS971", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.70885, + 2.91628, + 0.17564 + ], + "start_rotation": [ + 0, + 0.57193, + 0, + -0.8203 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.92204, + "euclidean_distance": 7.58328, + "closest_goal_object_id": 79, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.04195, + 2.91628, + -4.04273 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "080a334ceb144054b12c4ed7847b8f71", + "path": [ + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3A4TN5196ML4QQ7F30WQFJMIYS3HCH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.73318, + 2.91628, + -3.93706 + ], + "start_rotation": [ + 0, + 0.71987, + 0, + -0.69411 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.65965, + "euclidean_distance": 7.94906, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.13147, + 0.11628, + 2.65538 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "d804a36fe0fc40dfb8f03ca3758ce904", + "path": [ + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "12bce16a8b8e424bba0742b82a46352b", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3HMVI3QICLV6PIN6X3BUKNYUKS7Y1R", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.09292, + 0.11628, + -2.47141 + ], + "start_rotation": [ + 0, + 0.98017, + 0, + 0.19818 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 10.37222, + "euclidean_distance": 9.86605, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.72876, + 0.11628, + 7.08444 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "1d8256878b534440b5ba54b31bfb210b", + "path": [ + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_157_newN_0", + "a844e7823fe4425f96a265b8fc557cb7", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_157_newN_0", + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_157_newN_0", + "a844e7823fe4425f96a265b8fc557cb7", + [ + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3EJJQNKU9T88WSWYLXML4EL4YWIHR5", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.98851, + 0.11628, + -1.20914 + ], + "start_rotation": [ + 0, + 0.73172, + 0, + 0.68161 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.5018, + "euclidean_distance": 8.38825, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.20527, + 2.91628, + 1.91982 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "eb3364f96bed4877b27ce5e0cfa32702", + "path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_210_newN_0", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:37WLF8U1WRT6CZZMZUMK6BA0TLK6K1", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.96184, + 0.11628, + -1.97338 + ], + "start_rotation": [ + 0, + 0.94019, + 0, + -0.34064 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 3.95423, + "euclidean_distance": 2.08846, + "closest_goal_object_id": 422, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.58775, + 0.11628, + -0.4138 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "eb3364f96bed4877b27ce5e0cfa32702", + "path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3LJ7UR74RJGT5IGBDJLL157QRNJN4Y", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.7386, + 2.91628, + 3.09152 + ], + "start_rotation": [ + 0, + 0.97078, + 0, + -0.23997 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 13.09866, + "euclidean_distance": 6.28783, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.9578, + 2.91628, + 1.77915 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "0_edge_77_newN_1", + "path": [ + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3I2PTA7R3VXZMHI6E30ICGRRTL3KQH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.08314, + 0.11628, + 3.09205 + ], + "start_rotation": [ + 0, + 0.99683, + 0, + 0.07951 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.0054, + "euclidean_distance": 5.38401, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.71969, + 0.11628, + 2.66327 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "0_edge_204_newN_0", + "path": [ + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A302KOFOYLD89A:3R8YZBNQ9JLBR2BMV9B98BM5NYVQ73", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.35661, + 0.11628, + -6.09298 + ], + "start_rotation": [ + 0, + 0.3385, + 0, + 0.94096 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 13.34498, + "euclidean_distance": 12.19555, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.71815, + 0.11628, + 3.64615 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "723a213fbaa847f2a44feac9246fd7b1", + "path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_146_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + [ + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1" + ], + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a" + ], + "0_edge_146_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0" + ], + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "A19Z68L0RHQVWL:3NQL1CS15TBMBU344HVJRB5A9Y1VY4", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.53867, + 0.11628, + -0.08157 + ], + "start_rotation": [ + 0, + 0.14221, + 0, + -0.98984 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.80163, + "euclidean_distance": 6.87968, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.25844, + 0.11628, + -1.86454 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "8b219cad487e4091b7c29146f0224729", + "path": [ + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "1d8256878b534440b5ba54b31bfb210b", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + [ + "0cd0dd452a324496afd701e1c4b2e973" + ], + "1d8256878b534440b5ba54b31bfb210b", + [ + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3FTF2T8WLTLKPIV1MF8ZEWVX7YSW90", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.26339, + 3.11628, + -2.98238 + ], + "start_rotation": [ + 0, + 0.42185, + 0, + -0.90666 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.67784, + "euclidean_distance": 8.2812, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.9798, + 0.11628, + 3.18249 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3K4J6M3CXGW2XFF6ZGIHOOKTJQOAGU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.89076, + 2.91628, + 3.74825 + ], + "start_rotation": [ + 0, + 0.46741, + 0, + 0.88404 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 11.11236, + "euclidean_distance": 5.1689, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.07775, + 2.91628, + -0.96763 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "1e9bcf7676d44f2691efdeadc0d88d76", + "path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + [ + "1e9bcf7676d44f2691efdeadc0d88d76" + ], + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314" + ], + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3U088ZLJVMW2TO7OMJP6LLU43OJW0W", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.18168, + 0.11628, + -3.897 + ], + "start_rotation": [ + 0, + 0.63216, + 0, + 0.77484 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.24677, + "euclidean_distance": 4.005, + "closest_goal_object_id": 412, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.24452, + 0.11628, + -1.27291 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "0_edge_210_newN_0", + "path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + [ + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "ARQR5NIFA1AJ:358UUM7WR16B33QM8O09D1WAJN27RW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.58336, + 0.11628, + -5.43989 + ], + "start_rotation": [ + 0, + 0.9934, + 0, + -0.11471 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.42977, + "euclidean_distance": 5.56415, + "closest_goal_object_id": 267, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.98783, + 0.11628, + -0.96641 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "dbcf0a37c275473094e1160770291679", + "path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3TPZPLC3M2F8Q79KTKTUVPKFEA23PK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.59077, + 0.11628, + -1.61281 + ], + "start_rotation": [ + 0, + 0.93509, + 0, + -0.3544 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 3.73029, + "euclidean_distance": 1.40574, + "closest_goal_object_id": 422, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.5406, + 0.11628, + -0.34876 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "eb3364f96bed4877b27ce5e0cfa32702", + "path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3570Y55XZRM3TXD9FMWXRA20LCZYGP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.34264, + 2.91628, + 5.72898 + ], + "start_rotation": [ + 0, + 0.99131, + 0, + 0.13157 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.58471, + "euclidean_distance": 3.88069, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.38332, + 2.91628, + 1.9029 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "eba5ca774e2a41dfa6e22fbff7fe66d2", + "path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "refined_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + [ + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2" + ], + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + [ + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986" + ], + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3LJ7UR74RJGT5IGBDJLL157QSTV4N4", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.82221, + 3.11628, + -3.90596 + ], + "start_rotation": [ + 0, + 0.97136, + 0, + 0.23761 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.64415, + "euclidean_distance": 8.14458, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.43877, + 2.91628, + -0.96943 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:324G5B4FB5BN396NEBHUT5VNAW807U", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.26712, + 2.91628, + -0.74786 + ], + "start_rotation": [ + 0, + 0.32874, + 0, + 0.94442 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.98712, + "euclidean_distance": 6.62295, + "closest_goal_object_id": 79, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.10418, + 2.91628, + -3.99225 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "8f25ebb1c23d4fddb035eb336426d5fa", + "path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "4bb7642a8af44f97acb81190589a3451", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + [ + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16" + ], + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa" + ], + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3OHYZ19UGE8QPSW4NZVPTXTV99LAOG", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.85395, + 2.91628, + -0.55554 + ], + "start_rotation": [ + 0, + 0.08277, + 0, + -0.99657 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 11.33329, + "euclidean_distance": 5.14781, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.21074, + 0.11628, + 3.54168 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "dcced7b92f444b9a83bd7d54413fa486", + "path": [ + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "8f25ebb1c23d4fddb035eb336426d5fa", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Go to the fireplace.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A17OSPGV41FZ7P:3QY7M81QH9PPGZDRI4RCCPAWPZ5K7M", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.77473, + 2.91628, + 1.09311 + ], + "start_rotation": [ + 0, + 0.28206, + 0, + -0.9594 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.13295, + "euclidean_distance": 9.01506, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.48795, + 2.91628, + -4.72761 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "34a370fe2d1840e196a491db1e995e16", + "path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A75XDPFNICR3T:35USIKEBNTJ7K5KPW7E0Y3R4NEPN6J", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.40248, + 3.11628, + -4.5711 + ], + "start_rotation": [ + 0, + 0.62578, + 0, + -0.78 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.60135, + "euclidean_distance": 7.86487, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.27499, + 1.2478, + 1.43253 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3ND9UOO81M5FQKWABCBPJ5MS6LMWLV", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.10518, + 0.11628, + -5.41432 + ], + "start_rotation": [ + 0, + 0.92352, + 0, + 0.38354 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.58793, + "euclidean_distance": 8.78728, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.29222, + 0.11628, + 3.08002 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "1d8256878b534440b5ba54b31bfb210b" + ], + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3C5W7UE9CHTEL2JLLT8QL1FOGYTXMF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.46842, + 0.11628, + -0.60467 + ], + "start_rotation": [ + 0, + 0.49801, + 0, + -0.86717 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 3.51177, + "euclidean_distance": 3.05626, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.729, + 0.11628, + -3.69536 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "8b55e4f095374cfe8ddb0fda0f0dfa02", + "path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "0_edge_210_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "8f25ebb1c23d4fddb035eb336426d5fa", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_9_newN_0", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ], + "refined_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b" + ], + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + [ + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ], + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ] + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3EJJQNKU9T88WSWYLXML4EL4YVGHR1", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.81533, + 2.91628, + 3.45043 + ], + "start_rotation": [ + 0, + 0.9617, + 0, + -0.27409 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.14091, + "euclidean_distance": 9.05959, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.57527, + 2.91628, + -4.83707 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "1e9bcf7676d44f2691efdeadc0d88d76", + "path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_146_newN_2", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "0_edge_157_newN_2", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_157_newN_0", + "a844e7823fe4425f96a265b8fc557cb7", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_157_newN_0", + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1" + ], + "refined_path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + [ + "1e9bcf7676d44f2691efdeadc0d88d76" + ], + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + [ + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096" + ], + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_146_newN_0", + "0_edge_146_newN_1", + [ + "0_edge_146_newN_0" + ], + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_146_newN_2", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + [ + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ], + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "0_edge_157_newN_2", + [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_157_newN_0", + "a844e7823fe4425f96a265b8fc557cb7", + [ + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + [ + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1" + ], + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3RXPCZQMQRE63R263XPODNRQFWN1G2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.21984, + 2.91628, + 2.10466 + ], + "start_rotation": [ + 0, + 0.60034, + 0, + -0.79974 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.93896, + "euclidean_distance": 4.15063, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.64337, + 2.91628, + -1.22949 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "0_edge_185_newN_1", + "path": [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "A16K7X677N4WN6:3VA45EW49PQUV4J4RG2WIW0S5B4O1N", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.55144, + 0.11628, + -3.68033 + ], + "start_rotation": [ + 0, + 0.92556, + 0, + 0.3786 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 1.67206, + "euclidean_distance": 1.38896, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.28634, + 0.11628, + -4.48067 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "8b8c58d65b3049ef8a844f237096b06d", + "path": [ + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0" + ], + "refined_path": [ + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:32Q90QCQ1UOAPES15C5IIZ2DBM8EK1", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.86515, + 0.11628, + -0.4032 + ], + "start_rotation": [ + 0, + 0.68716, + 0, + -0.7265 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.43228, + "euclidean_distance": 5.62314, + "closest_goal_object_id": 197, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 1.18715, + 0.11628, + 5.28832 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "ed7387d968874f4bbe512395b64405af", + "path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ], + "refined_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ] + }, + { + "episode_id": "A5A14MTB35J23:30ZX6P7VFAYNJEA3U7A5FJTBYR3J2J", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.52511, + 0.11628, + -2.42064 + ], + "start_rotation": [ + 0, + 0.05963, + 0, + 0.99822 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.43113, + "euclidean_distance": 7.81554, + "closest_goal_object_id": 197, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 1.14086, + 0.11628, + 5.22565 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "84928b00abef4a8489bcaa2ce410d1e5", + "path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A302KOFOYLD89A:3NG53N1RLXMUR4FQ51OQM6SQTMG8PI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.98473, + 3.11628, + -4.03926 + ], + "start_rotation": [ + 0, + 0.78363, + 0, + -0.62123 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.35801, + "euclidean_distance": 4.04307, + "closest_goal_object_id": 79, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.12347, + 2.91628, + -4.0852 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "0_edge_7_newN_1" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16" + ], + "d339130a5534437da266a71435143314", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_7_newN_1", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3U8YCDAGXRJX9RB2AAQ0TWCIGRQQ0J", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.97559, + 0.94499, + 1.908 + ], + "start_rotation": [ + 0, + 0.78708, + 0, + 0.61685 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.91557, + "euclidean_distance": 2.39188, + "closest_goal_object_id": 428, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.88815, + 0.11628, + 2.96426 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "673ae67937804c42b3c22e93efb5d069", + "path": [ + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:32UTUBMZ7IZQYMATUPHZJ079OPNVBT", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.8394, + 0.11628, + 5.75958 + ], + "start_rotation": [ + 0, + 0.89481, + 0, + 0.44645 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 11.07524, + "euclidean_distance": 7.59852, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.40201, + 2.91628, + -1.05911 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "0_edge_157_newN_2", + "path": [ + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3EFE17QCRE8KX7WB0MMQUOQ0KY9HS1", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.74893, + 0.11628, + 4.69145 + ], + "start_rotation": [ + 0, + 0.59672, + 0, + -0.80245 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 12.22381, + "euclidean_distance": 6.00559, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.24662, + 2.91628, + -0.34466 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "71472b1d6fbf4d6192ed9917bff8dba7", + "path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_157_newN_0", + "a844e7823fe4425f96a265b8fc557cb7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_157_newN_0", + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_157_newN_0", + "a844e7823fe4425f96a265b8fc557cb7", + [ + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A16K7X677N4WN6:33LK57MYLV86OSW568SXUVU5GN7SZH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.71161, + 0.11628, + 0.26498 + ], + "start_rotation": [ + 0, + 0.93756, + 0, + -0.34782 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 13.37574, + "euclidean_distance": 11.78566, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.22269, + 0.11628, + -4.2109 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "0_edge_124_newN_0", + "path": [ + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "84928b00abef4a8489bcaa2ce410d1e5", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ], + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3PJUZCGDJ8J9ZHZJOCST0GSBPPK89O", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.44603, + 2.91628, + 3.78889 + ], + "start_rotation": [ + 0, + 1, + 0, + 0.00077 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 13.93059, + "euclidean_distance": 4.04343, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.00209, + 0.11628, + 2.5252 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "0bcfce0d81294b7e84a7eed52cb04a4e", + "path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1" + ], + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3R6BYFZZP9F8FSR4Z64DQBVFIP2FXU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.98477, + 0.11628, + -5.88804 + ], + "start_rotation": [ + 0, + 0.81554, + 0, + 0.57871 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 13.63782, + "euclidean_distance": 12.26453, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.71706, + 0.11628, + 3.66318 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_147_newN_0", + "path": [ + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "0_edge_182_newN_0", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + [ + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a" + ], + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679" + ], + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f" + ], + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3MH9DQ757YFMCOT45LZ8OPWNQV7GU7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.44614, + 2.91628, + -0.81566 + ], + "start_rotation": [ + 0, + 0.73197, + 0, + -0.68134 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.40013, + "euclidean_distance": 4.66, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.19914, + 1.23761, + 1.43199 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "7cae5e5f8adf444d829c95b4a4412ffd", + "path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3B2X28YI3YI5JWVSTH9R78RA6N46B2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.03344, + 0.11628, + 2.8786 + ], + "start_rotation": [ + 0, + 0.00688, + 0, + 0.99998 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.3, + "euclidean_distance": 4.55749, + "closest_goal_object_id": 370, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.40658, + 0.11628, + -1.44323 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "10_edge_195_newN_0", + "path": [ + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "AJTLLYV8O5FQU:374TNBHA8DYU6M7NII19LO62S60QYJ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.05984, + 3.11628, + -3.49958 + ], + "start_rotation": [ + 0, + 0.4607, + 0, + 0.88756 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 14.17621, + "euclidean_distance": 11.89209, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.5906, + 0.11628, + 6.98852 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "34a370fe2d1840e196a491db1e995e16", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_33_newN_1", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3KJYX6QCMBEWG585IHUGHOQMWV6JVE", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.95748, + 2.91628, + 5.51048 + ], + "start_rotation": [ + 0, + 0.62257, + 0, + 0.78256 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.57761, + "euclidean_distance": 3.63253, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.29155, + 2.91628, + 1.83121 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "81df67c58e324caca152f29eb64f6993", + "path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + [ + "81df67c58e324caca152f29eb64f6993" + ], + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A3RYI5HXC2MJLN:3PS7W85Z815SX1R7RA3ORCOY2ZAT9W", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.31226, + 0.11628, + 5.00822 + ], + "start_rotation": [ + 0, + 0.9715, + 0, + 0.23706 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.26225, + "euclidean_distance": 8.54248, + "closest_goal_object_id": 427, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.55098, + 0.11628, + 1.92087 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "1e597325e01d4a9aa332e92abc455414", + "path": [ + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ], + "refined_path": [ + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ] + }, + { + "episode_id": "A17OSPGV41FZ7P:33LK57MYLV86OSW568SXUVU5GMFZSU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.94674, + 2.91628, + 5.16604 + ], + "start_rotation": [ + 0, + 0.48292, + 0, + 0.87566 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 12.22517, + "euclidean_distance": 3.59837, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.90525, + 0.11628, + 3.15538 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "0_edge_30_newN_1", + "path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3TVSS0C0E3339X4FKLDG5WW915AWTF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.25956, + 0.11628, + -1.77131 + ], + "start_rotation": [ + 0, + 0.1772, + 0, + -0.98418 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 6.27429, + "euclidean_distance": 5.28609, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.27721, + 0.11628, + 3.14352 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "4545f7a0d918401ebccdb6716a5f1fce", + "path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679" + ], + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54" + ], + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:358010RM5GWXBPDUZL9H8XY16JAVXI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.24616, + 0.11628, + 0.08873 + ], + "start_rotation": [ + 0, + 0.87472, + 0, + -0.48463 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.34994, + "euclidean_distance": 3.17645, + "closest_goal_object_id": 370, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.48392, + 0.11628, + -1.53455 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "0_edge_124_newN_0", + "path": [ + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "refined_path": [ + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:33JKGHPFYEX9985HJNLHNZOQEMLNMR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.65388, + 0.11628, + 2.45507 + ], + "start_rotation": [ + 0, + 0.99203, + 0, + 0.12602 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 7.12482, + "euclidean_distance": 5.05472, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.49683, + 0.11628, + -2.10653 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "0_edge_182_newN_0", + "path": [ + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Find the fireplace.", + "instr_encoding": [ + 101, + 2424, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3OHYZ19UGE8QPSW4NZVPTXTV956OA7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.53751, + 0.11628, + 2.64954 + ], + "start_rotation": [ + 0, + 0.89348, + 0, + 0.44909 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.57348, + "euclidean_distance": 5.1118, + "closest_goal_object_id": 370, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.43829, + 0.11628, + -1.45534 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "b14dbfea048449aa8b8934cbf491a10a", + "path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3DH6GAKTY0S3KE8E5EKMCHI6W0PYZ6", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.27849, + 0.11628, + 2.52212 + ], + "start_rotation": [ + 0, + 0.95743, + 0, + 0.28866 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.69392, + "euclidean_distance": 10.00501, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.6576, + 0.11628, + 3.78341 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "bfd18e7fa8894c26a00f0cad55b31f76", + "path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ], + "refined_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39U1BHVTDNU6IZ2RA12E0ZLC3BY3TW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.3103, + 2.91628, + 3.00718 + ], + "start_rotation": [ + 0, + 0.07526, + 0, + 0.99716 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 14.1194, + "euclidean_distance": 5.21138, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.47189, + 0.11628, + 6.96242 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_33_newN_1", + "path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:39KFRKBFIPYRLAU73595WJB2CZ1OYF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.15337, + 0.11628, + 5.12513 + ], + "start_rotation": [ + 0, + 0.99784, + 0, + 0.06565 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.27993, + "euclidean_distance": 3.0241, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 0.59984, + 0.11628, + 2.32719 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "1e597325e01d4a9aa332e92abc455414", + "path": [ + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "0_edge_126_newN_0" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "0_edge_126_newN_0" + ], + "refined_path": [ + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "0_edge_126_newN_0" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3VNXK88KKEL7ATVWW533SUCJ0PE9VR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.02279, + 3.11628, + -5.17486 + ], + "start_rotation": [ + 0, + 0.9733, + 0, + -0.22954 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.34462, + "euclidean_distance": 5.04747, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.08917, + 2.91628, + -4.07907 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "4e1ad142e5844d21a376040600184d9a", + "path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "refined_path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2" + ] + }, + { + "episode_id": "A3B1P3B6X3AM2B:3LOZAJ85YFGOEYFSBBP66S1QAVBX2R", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.28325, + 2.91628, + -4.59352 + ], + "start_rotation": [ + 0, + 0.97554, + 0, + -0.21983 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.0601, + "euclidean_distance": 3.23365, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.54175, + 2.91628, + -1.3249 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "0_edge_169_newN_0", + "path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "34a370fe2d1840e196a491db1e995e16", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_9_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3M0NZ3JDP315IQYUUCFP1KKD2305ZT", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.38135, + 2.91628, + 0.75239 + ], + "start_rotation": [ + 0, + 0.71979, + 0, + -0.6942 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.33775, + "euclidean_distance": 5.15112, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.1713, + 1.31314, + 1.34024 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "34a370fe2d1840e196a491db1e995e16", + "path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "refined_path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + [ + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce" + ] + }, + { + "episode_id": "A334BFWVFS4B41:3EG49X351WFCWZYTYD19W5I2QZUX6N", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.54547, + 3.11628, + -4.94371 + ], + "start_rotation": [ + 0, + 0.26938, + 0, + -0.96303 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.28263, + "euclidean_distance": 6.78435, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.91821, + 2.91628, + -1.09561 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_73_newN_0", + "path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "9001b330086e4aa69799729560e6dca0", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa" + ], + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "8b219cad487e4091b7c29146f0224729" + ] + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3EJJQNKU9T88WSWYLXML4EL4XQCRHW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.383, + 2.91628, + -5.09162 + ], + "start_rotation": [ + 0, + 0.62226, + 0, + -0.78281 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 5.51322, + "euclidean_distance": 4.39275, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.61552, + 2.91628, + -0.70298 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_169_newN_1", + "path": [ + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3CTOC39K39TU5F790JR0BAAJ93PJ7R", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.28229, + 1.45233, + 1.10691 + ], + "start_rotation": [ + 0, + 0.12869, + 0, + 0.99168 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.18381, + "euclidean_distance": 2.82439, + "closest_goal_object_id": 398, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.33161, + 0.11628, + 3.44332 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "e0c61a2e0f9244cd8534e9ed8be96322", + "path": [ + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3T111IHZ5GTFHMEFNLYTRXNGFJWR9B", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.01779, + 2.91628, + 6.17119 + ], + "start_rotation": [ + 0, + 0.22957, + 0, + -0.97329 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.09627, + "euclidean_distance": 4.06595, + "closest_goal_object_id": 25, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.52596, + 2.91628, + 2.10738 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "eba5ca774e2a41dfa6e22fbff7fe66d2", + "path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:358UUM7WR16B33QM8O09D1WAKT27R9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.59152, + 0.11628, + -2.03894 + ], + "start_rotation": [ + 0, + 0.74402, + 0, + -0.66816 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.54046, + "euclidean_distance": 3.31859, + "closest_goal_object_id": 319, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.58826, + 0.11628, + -4.76647 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "eb3364f96bed4877b27ce5e0cfa32702", + "path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0" + ], + "refined_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3A9AA95ATYPB4MWO73HNAMIZRZM5PQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.70398, + 0.11628, + 6.04416 + ], + "start_rotation": [ + 0, + 0.38738, + 0, + 0.92192 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.76166, + "euclidean_distance": 3.50035, + "closest_goal_object_id": 381, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.50652, + 0.11628, + 3.05079 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_157_newN_2", + "path": [ + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3O7L7BFSHGSJJJ2D59K65JN0JJUEI3", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.30076, + 0.11628, + 1.80148 + ], + "start_rotation": [ + 0, + 0.945, + 0, + -0.32707 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 6.27671, + "euclidean_distance": 3.72976, + "closest_goal_object_id": 197, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 1.15864, + 0.11628, + 5.28523 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "bfd18e7fa8894c26a00f0cad55b31f76", + "path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ], + "refined_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3AQF3RZ55ALVWD78YJVNQYIVLPN6FJ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.74892, + 0.11628, + -4.94502 + ], + "start_rotation": [ + 0, + 0.03703, + 0, + 0.99931 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 9.78478, + "euclidean_distance": 5.83176, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.51833, + 0.11628, + -1.55741 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A2CWA5VQZ6IWMQ:3TVRFO09GMIUFK10LH7BLO0ZGVFLXH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.84284, + 2.91628, + -1.30926 + ], + "start_rotation": [ + 0, + 0.64255, + 0, + -0.76624 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.52677, + "euclidean_distance": 4.7717, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.14221, + 0.11628, + 2.72262 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "0_edge_110_newN_0", + "path": [ + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "8f25ebb1c23d4fddb035eb336426d5fa", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0" + ], + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:33L7PJKHCI1SJW8XMIXARGTNIPF8T1", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.25724, + 2.72259, + -0.43541 + ], + "start_rotation": [ + 0, + 0.38857, + 0, + 0.92142 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.2623, + "euclidean_distance": 3.91544, + "closest_goal_object_id": 87, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.23627, + 2.91628, + -4.4049 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "0_edge_134_newN_0", + "path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3ITXP059PYMGODR1OMPB616FWJIJSY", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.94876, + 2.87988, + -0.64627 + ], + "start_rotation": [ + 0, + 0.5754, + 0, + -0.81787 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 2.62614, + "euclidean_distance": 2.24027, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.22346, + 2.91628, + -0.42265 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "0_edge_134_newN_0", + "path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3M23Y66PO4A40ICU43VMXX1AAAV6S6", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.91566, + 3.11628, + -4.21651 + ], + "start_rotation": [ + 0, + 0.74861, + 0, + -0.66301 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.36099, + "euclidean_distance": 4.36852, + "closest_goal_object_id": 129, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -2.52155, + 2.91628, + -0.13125 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3QY5DC2MXTNGYOX9U1TQ64WBO9UFUF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.01749, + 0.11628, + -1.37871 + ], + "start_rotation": [ + 0, + 0.34466, + 0, + 0.93873 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 11.08998, + "euclidean_distance": 9.60457, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.07157, + 0.11628, + -4.05907 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "84928b00abef4a8489bcaa2ce410d1e5", + "path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3ZQIG0FLQGJIMP84PGDV6EKUYPWVWY", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.70235, + 2.91628, + -1.26642 + ], + "start_rotation": [ + 0, + 0.56109, + 0, + -0.82776 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.78425, + "euclidean_distance": 5.63624, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.08862, + 0.11628, + 2.9506 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "5f4fd3bd58144211a8617caa5570e40c", + "path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "8f25ebb1c23d4fddb035eb336426d5fa", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "refined_path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + [ + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3AAPLD8UCEKLC79QPMRG4TMMLARTHR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.94648, + 2.91628, + 4.70535 + ], + "start_rotation": [ + 0, + 0.1714, + 0, + -0.9852 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.35391, + "euclidean_distance": 2.13637, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.44298, + 2.91628, + 3.07991 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "d97dee547dac432094720d127b49b347", + "path": [ + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + [ + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "A2GQH4SWIOFH2L:31QTRG6Q2VG96A68I5MKLJGSN7MYP2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.15978, + 0.11628, + 5.34239 + ], + "start_rotation": [ + 0, + 0.4031, + 0, + 0.91516 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 14.55075, + "euclidean_distance": 13.83747, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.04925, + 0.11628, + -4.11983 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "1e597325e01d4a9aa332e92abc455414", + "path": [ + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:39LOEL67OU8NKFA373RJ93PPPWV38L", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.79773, + 0.11628, + -6.03022 + ], + "start_rotation": [ + 0, + 0.73446, + 0, + 0.67865 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 13.19496, + "euclidean_distance": 11.18256, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.23561, + 0.11628, + -1.87416 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "723a213fbaa847f2a44feac9246fd7b1", + "path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ], + "refined_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3CFVK00FWNOHW5H4KUYLLBNFJRIL6P", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.36937, + 2.91628, + -3.9528 + ], + "start_rotation": [ + 0, + 0.75393, + 0, + -0.65696 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 10.14658, + "euclidean_distance": 8.52588, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.10758, + 0.11628, + 2.92284 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "d804a36fe0fc40dfb8f03ca3758ce904", + "path": [ + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A17OSPGV41FZ7P:3NXNZ5RS1C05Z3U0E70NMGWGD0297F", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.96764, + 0.11628, + -6.03359 + ], + "start_rotation": [ + 0, + 0.98542, + 0, + 0.17011 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 12.62079, + "euclidean_distance": 11.24449, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.74935, + 0.11628, + -2.68962 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "723a213fbaa847f2a44feac9246fd7b1", + "path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + [ + "723a213fbaa847f2a44feac9246fd7b1" + ], + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + [ + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0" + ], + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + [ + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3PH3VY7DJN0ZV9DEQD2YRKXQLU2ZWP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.05239, + 0.11628, + -3.08646 + ], + "start_rotation": [ + 0, + 0.83937, + 0, + 0.54356 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 7.64366, + "euclidean_distance": 6.74917, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.32261, + 0.11628, + -2.19204 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "0_edge_80_newN_0", + "path": [ + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ], + "instruction": "Go to the fireplace.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "refined_path": [ + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3QXNC7EIPKYRHSUGT8FE71MT5JY90B", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.2162, + 2.91628, + 1.53564 + ], + "start_rotation": [ + 0, + 0.36452, + 0, + -0.93119 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.51529, + "euclidean_distance": 3.00811, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.60538, + 2.91628, + 3.08818 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "refined_path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:37TRT2X24SUH7RAZD03GGCWFT18JBM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.06306, + 2.90436, + -0.66258 + ], + "start_rotation": [ + 0, + 0.91345, + 0, + 0.40694 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.04292, + "euclidean_distance": 4.91236, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.03216, + 0.11628, + 2.89138 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "0_edge_134_newN_0", + "path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3FTOP5WARHRGN47PFK6RWV0W2Y50JD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.34014, + 0.11628, + 0.4811 + ], + "start_rotation": [ + 0, + 0.88561, + 0, + 0.46444 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 2.27607, + "euclidean_distance": 1.94437, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.20006, + 0.11628, + -1.25217 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "181c56d99ddd42ba8d4be09dbb135381", + "path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "refined_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3NLZY2D53RSA6N0OZ3CJRG46IIRLQY", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.34555, + 0.11628, + -1.44633 + ], + "start_rotation": [ + 0, + 0.61988, + 0, + 0.78469 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.48882, + "euclidean_distance": 3.32252, + "closest_goal_object_id": 365, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.2521, + 0.11628, + -2.49987 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "4545f7a0d918401ebccdb6716a5f1fce", + "path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1" + ], + "refined_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:34Q075JO1ZG9SNRLPV0LSV4A7CE017", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.69159, + 0.11628, + -3.88196 + ], + "start_rotation": [ + 0, + 0.6362, + 0, + 0.77152 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.07194, + "euclidean_distance": 3.65553, + "closest_goal_object_id": 412, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.29616, + 0.11628, + -1.20255 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "dbcf0a37c275473094e1160770291679", + "path": [ + "dbcf0a37c275473094e1160770291679", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "dbcf0a37c275473094e1160770291679", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ], + "refined_path": [ + "dbcf0a37c275473094e1160770291679", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3MTMREQS4XLYU156ELMZAR6HDGDWAI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.58855, + 3.11628, + -4.23879 + ], + "start_rotation": [ + 0, + 0.5306, + 0, + -0.84762 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.74874, + "euclidean_distance": 6.06049, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.43719, + 2.91628, + -4.78518 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_7_newN_1" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:31IBVUNM9U2GB3M9ZR3V2QYU3KPVFF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.76296, + 2.91628, + 5.70604 + ], + "start_rotation": [ + 0, + 0.71904, + 0, + 0.69497 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.70401, + "euclidean_distance": 3.881, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.17018, + 2.91628, + 1.85887 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_30_newN_0", + "path": [ + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3XUHV3NRVM1JR5Y0OQ9I1DG855U5HX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.29609, + 2.20017, + 0.13987 + ], + "start_rotation": [ + 0, + 0.9019, + 0, + 0.43195 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.43485, + "euclidean_distance": 3.97865, + "closest_goal_object_id": 398, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.20873, + 0.11628, + 3.45651 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "9001b330086e4aa69799729560e6dca0", + "path": [ + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3ZAK8W07I6HP1KIJRJA53X97I9SU0H", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.01118, + 2.91628, + 4.84142 + ], + "start_rotation": [ + 0, + 0.36714, + 0, + -0.93017 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 12.87309, + "euclidean_distance": 5.222, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.09983, + 0.11628, + 2.88508 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "0_edge_30_newN_1", + "path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0_edge_33_newN_1", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3X3OR7WPZ1340J0SD9VJ5PJ6PILL8G", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.14659, + 0.11628, + 5.41998 + ], + "start_rotation": [ + 0, + 0.627, + 0, + -0.77902 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.32765, + "euclidean_distance": 5.81969, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.03299, + 0.11628, + 2.57134 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "71472b1d6fbf4d6192ed9917bff8dba7", + "path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A314XJY8V1YL12:3E13VNJ1NPYKZI81TLPRYZ46UC51IQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.20297, + 2.91628, + -4.13145 + ], + "start_rotation": [ + 0, + 0.77164, + 0, + 0.63606 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.47185, + "euclidean_distance": 6.45143, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.82582, + 2.91628, + 1.85402 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "0_edge_169_newN_0", + "path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3M81GAB8A2MYTEEC8QNPDD817W9BQE", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.6904, + 0.11628, + 1.91856 + ], + "start_rotation": [ + 0, + 0.99245, + 0, + -0.12265 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 16.08466, + "euclidean_distance": 9.9894, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.27903, + 2.91628, + 1.93463 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "0_edge_182_newN_0", + "path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3IAS3U3I0HJH1VCR6FXOHVAYQIUB2I", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.987, + 2.91628, + -1.65834 + ], + "start_rotation": [ + 0, + 0.77712, + 0, + -0.62935 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.36079, + "euclidean_distance": 2.92821, + "closest_goal_object_id": 87, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.26862, + 2.91628, + -4.34951 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "0_edge_110_newN_0", + "path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ], + "refined_path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:39GXDJN2OVH7WOCMRDXPSYH8GKMV8G", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.32963, + 2.91628, + -1.26724 + ], + "start_rotation": [ + 0, + 0.00921, + 0, + 0.99996 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 8.99038, + "euclidean_distance": 6.785, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.26143, + 0.11628, + 3.38847 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "3532b1e7ea1646848b710936d4696a5d", + "path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_110_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_157_newN_0" + ], + "instruction": "Navigate to the fireplace.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_157_newN_0" + ], + "refined_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_157_newN_0" + ] + }, + { + "episode_id": "A399GYOD60WD7M:3GS6S824SS05EKZVNPR4WXQHCL0NWD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.08248, + 3.11628, + -5.35289 + ], + "start_rotation": [ + 0, + 0.6738, + 0, + 0.73892 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 13.05061, + "euclidean_distance": 9.35048, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.11273, + 0.11628, + 2.70675 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "0_edge_73_newN_0", + "path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "9001b330086e4aa69799729560e6dca0", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa" + ], + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ], + "50629d10507840cba1ff155045d3f76b", + [ + "db59566f6465453d88a27b5bcb19b096" + ] + ] + }, + { + "episode_id": "A272X64FOZFYLB:3IX2EGZR7DM4NYRO9XP6GR1JBLUJRE", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.31574, + 2.91628, + 3.85539 + ], + "start_rotation": [ + 0, + 0.99993, + 0, + 0.01162 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.92885, + "euclidean_distance": 11.3045, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.54216, + 2.91628, + -4.74171 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "0cb5fac1789e42d5a99cc87f4ef8cb35", + "path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1" + ], + "refined_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:317HQ483I9VNDPFQY8NPV6H9W2WNIJ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.27999, + 2.91628, + -1.78936 + ], + "start_rotation": [ + 0, + 0.0658, + 0, + -0.99783 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 1.96969, + "euclidean_distance": 1.64429, + "closest_goal_object_id": 129, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -2.26479, + 2.91628, + -0.50807 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "743e6d37beae4b6482a43ae41e634e67", + "path": [ + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "0_edge_122_newN_0", + "f3dd1c323fde4f6fa5056433cdd92fa7" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "743e6d37beae4b6482a43ae41e634e67", + "0_edge_122_newN_0", + "f3dd1c323fde4f6fa5056433cdd92fa7" + ], + "refined_path": [ + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "743e6d37beae4b6482a43ae41e634e67" + ], + "0_edge_122_newN_0", + "f3dd1c323fde4f6fa5056433cdd92fa7" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:34Q075JO1ZG9SNRLPV0LSV4A8FX10Y", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.06524, + 0.11628, + 2.23908 + ], + "start_rotation": [ + 0, + 0.0051, + 0, + -0.99999 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.10724, + "euclidean_distance": 7.60483, + "closest_goal_object_id": 427, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.60221, + 0.11628, + 2.04254 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "bfd18e7fa8894c26a00f0cad55b31f76", + "path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_146_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0", + "0_edge_80_newN_0" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0" + ], + "refined_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + [ + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a" + ], + "0_edge_146_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0" + ], + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0", + [ + "1d8256878b534440b5ba54b31bfb210b" + ], + "0_edge_80_newN_0", + [ + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0" + ] + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:31JLPPHS2WXQ57XJEKGF6PFP3YXO30", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.02244, + 2.91628, + -4.54524 + ], + "start_rotation": [ + 0, + 0.0961, + 0, + -0.99537 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.12712, + "euclidean_distance": 3.13773, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.71175, + 2.91628, + -1.43738 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "0_edge_169_newN_0", + "path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3B1NLC6UG1Z9KJL8OZ0EEJ9OH88PG0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.14454, + 3.11628, + -4.01716 + ], + "start_rotation": [ + 0, + 0.13571, + 0, + -0.99075 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.96991, + "euclidean_distance": 7.53856, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.12367, + 2.91628, + -0.97108 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "34a370fe2d1840e196a491db1e995e16", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3LO69W1SU5GJTY6AW777X204CZQLGJ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.20532, + 2.91628, + -1.5889 + ], + "start_rotation": [ + 0, + 0.89949, + 0, + -0.43694 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.97432, + "euclidean_distance": 9.14404, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.02797, + 2.91628, + -4.04624 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "743e6d37beae4b6482a43ae41e634e67", + "path": [ + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "refined_path": [ + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TK8OJTYM3OS2GB3DUZ0EKCY5VZVPF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.15905, + 3.11628, + -5.01472 + ], + "start_rotation": [ + 0, + 0.96917, + 0, + -0.24639 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 16.08244, + "euclidean_distance": 14.02448, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.49919, + 0.11628, + 7.03476 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "723a213fbaa847f2a44feac9246fd7b1", + "path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + [ + "0_edge_146_newN_0" + ], + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa" + ], + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3YZ8UPK3VVP9VCDZ3Z3PYYB8RTPCUI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.29039, + 1.25554, + 1.42358 + ], + "start_rotation": [ + 0, + 0.90911, + 0, + 0.41655 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.81155, + "euclidean_distance": 2.47731, + "closest_goal_object_id": 398, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.32753, + 0.11628, + 3.4612 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "673ae67937804c42b3c22e93efb5d069", + "path": [ + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3N4BPTXIOAVREAPNVCKNMHOGXD7UK9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.31031, + 0.11628, + 3.29775 + ], + "start_rotation": [ + 0, + 0.73496, + 0, + 0.67811 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 7.43956, + "euclidean_distance": 5.43868, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.1737, + 2.91628, + -0.50053 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "8f5a767771964a56b3708d5415c446b2", + "path": [ + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + [ + "8f5a767771964a56b3708d5415c446b2" + ], + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1" + ], + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3TMFV4NEPAHKBDCRHN2LE00MNS78WK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.40473, + 3.11628, + -2.74858 + ], + "start_rotation": [ + 0, + 0.05553, + 0, + 0.99846 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 14.65459, + "euclidean_distance": 12.02802, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.16872, + 0.11628, + 3.40822 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Navigate to the fireplace.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3JBT3HLQFA59B0GDERO3ZQPUSV7ZPY", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.90248, + 2.91628, + -0.50328 + ], + "start_rotation": [ + 0, + 0.99958, + 0, + -0.02913 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.51967, + "euclidean_distance": 2.3807, + "closest_goal_object_id": 129, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -2.4422, + 2.91628, + -0.05426 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "7cae5e5f8adf444d829c95b4a4412ffd", + "path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ], + "refined_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3GU1KF0O4K4DT2DX8D80D8IR21APBQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.96819, + 0.11628, + -4.84165 + ], + "start_rotation": [ + 0, + 0.99794, + 0, + 0.06411 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.75798, + "euclidean_distance": 4.85399, + "closest_goal_object_id": 267, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.80272, + 0.11628, + -0.88715 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "dbcf0a37c275473094e1160770291679", + "path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:38F71OA9GVZXLGS0LZ24FUFHCVSFM5", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.18879, + 2.35258, + -0.03264 + ], + "start_rotation": [ + 0, + 0.99993, + 0, + 0.01166 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 3.4642, + "euclidean_distance": 2.61404, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.67425, + 2.91628, + -0.6963 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "9001b330086e4aa69799729560e6dca0", + "path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A314XJY8V1YL12:3AUQQEL7U7WPEZ7JW9KAZJBQWGTV0Z", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.42667, + 0.11628, + -3.85714 + ], + "start_rotation": [ + 0, + 0.87579, + 0, + -0.48269 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.52425, + "euclidean_distance": 6.99736, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.39201, + 0.11628, + 3.24792 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "370411a65c3d4dc8bd475805ad0f4195", + "path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3" + ], + "refined_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0" + ], + "dfa246b0d1fe4f08953b20151cf951c3" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3N1FSUEFL73KJ6PYOP7I50VWENKD4I", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.79375, + 2.91628, + -0.9849 + ], + "start_rotation": [ + 0, + 0.67122, + 0, + 0.74126 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.45379, + "euclidean_distance": 5.10893, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.99204, + 0.11628, + 3.23954 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "0_edge_134_newN_0", + "path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0" + ], + "refined_path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3YZ8UPK3VVP9VCDZ3Z3PYYB8S3VUCR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.39188, + 2.91628, + -1.76039 + ], + "start_rotation": [ + 0, + 0.5498, + 0, + 0.8353 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.04273, + "euclidean_distance": 5.40939, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.09863, + 0.11628, + 2.59563 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "53672af2c15047818f2ead24a2370930", + "path": [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A17C8CUROFU495:3J88R45B2I1K65GYD90I259JL4NXPW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.41646, + 2.91628, + -1.92881 + ], + "start_rotation": [ + 0, + 0.97646, + 0, + -0.2157 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.80785, + "euclidean_distance": 5.78528, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.04515, + 0.11628, + 3.18744 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "5f4fd3bd58144211a8617caa5570e40c", + "path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0" + ], + "refined_path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3SNVL38CI6VVSG8N9LZNSB2AQ9QKC7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.22603, + 0.11628, + 2.31513 + ], + "start_rotation": [ + 0, + 0.3313, + 0, + -0.94353 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 6.9342, + "euclidean_distance": 6.56729, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.05031, + 0.11628, + -4.07922 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "0_edge_102_newN_0", + "path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "refined_path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ] + }, + { + "episode_id": "A1198W1SPF1R4:3NPI0JQDAQ8DPO7E8ZZLD2OD7Z0PTN", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.91934, + 2.91628, + -0.56689 + ], + "start_rotation": [ + 0, + 0.88551, + 0, + -0.46463 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.49101, + "euclidean_distance": 5.36587, + "closest_goal_object_id": 79, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.19987, + 2.91628, + -4.03961 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "7cae5e5f8adf444d829c95b4a4412ffd", + "path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "743e6d37beae4b6482a43ae41e634e67", + "0_edge_122_newN_0", + "f3dd1c323fde4f6fa5056433cdd92fa7", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "743e6d37beae4b6482a43ae41e634e67", + "0_edge_122_newN_0", + "f3dd1c323fde4f6fa5056433cdd92fa7", + "0_edge_122_newN_0", + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "743e6d37beae4b6482a43ae41e634e67", + "0_edge_122_newN_0", + "f3dd1c323fde4f6fa5056433cdd92fa7", + [ + "0_edge_122_newN_0", + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "ARQR5NIFA1AJ:3L2IS5HSFCLSMGAQSPC3E95KR7FUNF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.24963, + 3.11628, + -4.72102 + ], + "start_rotation": [ + 0, + 0.55424, + 0, + 0.83236 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.88355, + "euclidean_distance": 9.90347, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.40584, + 2.91628, + -1.04265 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "0_edge_146_newN_1", + "path": [ + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "8f25ebb1c23d4fddb035eb336426d5fa", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3R5F3LQFV4NRQ04CZRBOAQK4JZEOZS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.6134, + 2.91628, + 2.83504 + ], + "start_rotation": [ + 0, + 0.38255, + 0, + 0.92393 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 10.1511, + "euclidean_distance": 6.42359, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.19472, + 2.91628, + -0.43751 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "0_edge_77_newN_1", + "path": [ + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1", + "0_edge_9_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1" + ], + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3SKEMFQBZ58TGDIAS9JIQP6RZGAK81", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.09734, + 0.11628, + 4.09078 + ], + "start_rotation": [ + 0, + 0.65496, + 0, + -0.75566 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 10.94345, + "euclidean_distance": 4.79339, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.33686, + 2.91628, + 1.87433 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "32fb55017460457cbe0b8d1790a54786", + "path": [ + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "0_edge_210_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3TR2532VIRXB1FT4H9M85WANEWPJ6K", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.74285, + 2.91628, + 3.41364 + ], + "start_rotation": [ + 0, + 0.18282, + 0, + -0.98315 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 10.87947, + "euclidean_distance": 4.93314, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.9678, + 2.91628, + -1.07646 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "1e9bcf7676d44f2691efdeadc0d88d76", + "path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "refined_path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + [ + "1e9bcf7676d44f2691efdeadc0d88d76" + ], + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3TUI152ZZDQXGGWK6TU071VSLJF1QG", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.81464, + 0.11628, + -0.49086 + ], + "start_rotation": [ + 0, + 0.96116, + 0, + 0.27598 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.96393, + "euclidean_distance": 5.86579, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.64708, + 0.11628, + -1.63248 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "8b219cad487e4091b7c29146f0224729", + "path": [ + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3RGU30DZTCBDQIEW4PTPUS794UBMJ0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.48787, + 2.91628, + 2.14233 + ], + "start_rotation": [ + 0, + 0.76877, + 0, + 0.63952 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 10.11545, + "euclidean_distance": 4.4729, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.02478, + 0.11628, + 2.90979 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:32SVAV9L3HC1333I41BX5UVKEEDA31", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.18454, + 0.11628, + 3.02317 + ], + "start_rotation": [ + 0, + 0.88981, + 0, + -0.45634 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.43489, + "euclidean_distance": 4.74446, + "closest_goal_object_id": 370, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.56622, + 0.11628, + -1.4543 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "10_edge_195_newN_0", + "path": [ + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "refined_path": [ + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ] + }, + { + "episode_id": "A3NMQ3019X6YE0:3I33IC7ZWH5CIL7Z01XSMKQS981A2V", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.66082, + 0.11628, + -2.97485 + ], + "start_rotation": [ + 0, + 0.1023, + 0, + 0.99475 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.1963, + "euclidean_distance": 3.74272, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.08465, + 0.11628, + -4.09983 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "8b8c58d65b3049ef8a844f237096b06d", + "path": [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3OS4RQUCRBI12PO3UACV1E4NZOFBFM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.02646, + 2.91628, + -0.99165 + ], + "start_rotation": [ + 0, + 0.99402, + 0, + 0.1092 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.46839, + "euclidean_distance": 4.32034, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.30841, + 2.91628, + 1.95617 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "0_edge_134_newN_0", + "path": [ + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3OLF68YTNB4WJFJBOWCZ63KHIB5FAH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.42641, + 2.91628, + -1.8938 + ], + "start_rotation": [ + 0, + 0.12962, + 0, + 0.99156 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.02607, + "euclidean_distance": 3.91226, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.96329, + 2.91628, + 1.7873 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "5f4fd3bd58144211a8617caa5570e40c", + "path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:38BQUHLA9Y3RRT5TK2LU2OOV4XTMOA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.32416, + 0.11628, + -0.41379 + ], + "start_rotation": [ + 0, + 0.61164, + 0, + 0.79114 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 15.93704, + "euclidean_distance": 8.34523, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.57433, + 0.11628, + 6.92904 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_2_newN_0", + "path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + [ + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ], + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:358UUM7WR16B33QM8O09D1WAJPMR74", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.51999, + 2.91628, + -7.20392 + ], + "start_rotation": [ + 0, + 0.98773, + 0, + -0.15614 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 16.53649, + "euclidean_distance": 14.5415, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.48845, + 0.11628, + 7.00002 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_50_newN_0", + "path": [ + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "34a370fe2d1840e196a491db1e995e16", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A272X64FOZFYLB:3BXQMRHWK11M4YPQGOX31UGKLCSUMR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.37836, + 0.11628, + -2.78113 + ], + "start_rotation": [ + 0, + 0.57766, + 0, + 0.81627 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.96548, + "euclidean_distance": 7.22551, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.59038, + 0.11628, + 3.70752 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "8b8c58d65b3049ef8a844f237096b06d", + "path": [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "0_edge_82_newN_0", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "refined_path": [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + [ + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347" + ], + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + [ + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ] + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3O6CYIULEF4I9AJ4KQ3QASIBJACWUI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.54727, + 0.11628, + -1.95979 + ], + "start_rotation": [ + 0, + 0.91891, + 0, + 0.39447 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.53015, + "euclidean_distance": 2.22355, + "closest_goal_object_id": 291, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.9568, + 0.11628, + -4.15702 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "1f7f69e3874c48b8b9caf0548240603f", + "path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ], + "refined_path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:3Q5C1WP23O48NUDMM16X9Q01PMA15J", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.16372, + 3.11628, + -4.20671 + ], + "start_rotation": [ + 0, + 0.95441, + 0, + 0.2985 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.627, + "euclidean_distance": 6.71027, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.053, + 2.91628, + -1.05158 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3OB0CAO74JSHTT8KZSEFCAE11HAYHX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.58182, + 3.11628, + -2.52904 + ], + "start_rotation": [ + 0, + 0.75249, + 0, + 0.6586 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.19354, + "euclidean_distance": 2.45862, + "closest_goal_object_id": 120, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -2.82677, + 2.91628, + -0.90573 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314" + ] + }, + { + "episode_id": "A3G5OWGKHW6OL5:3OVR4I9USRME8FT3TBD25Z2VWZO4QM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.16218, + 0.11628, + 2.8885 + ], + "start_rotation": [ + 0, + 0.28223, + 0, + -0.95935 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 7.43046, + "euclidean_distance": 5.67264, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.38286, + 0.11628, + -1.97314 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "0_edge_182_newN_0", + "path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Navigate to the fireplace.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3X0H8UUIT3R2UXR0VL8QVR0NZO0SWU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 3.10106, + 0.11628, + 1.957 + ], + "start_rotation": [ + 0, + 0.98518, + 0, + 0.17155 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 16.18241, + "euclidean_distance": 13.70977, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.64161, + 0.11628, + 6.97821 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_126_newN_0", + "path": [ + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "ACI0C2WU1NABK:34S9DKFK75S93PUV2Q9SHUBXMLTYNZ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.11662, + 3.11628, + -3.91637 + ], + "start_rotation": [ + 0, + 0.17022, + 0, + -0.98541 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.52879, + "euclidean_distance": 3.89342, + "closest_goal_object_id": 129, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -2.54319, + 2.91628, + -0.12259 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:39OWYR0EPMUXFXHE42QF9P2OKZMYFH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.61926, + 0.11628, + 1.12295 + ], + "start_rotation": [ + 0, + 0.30359, + 0, + 0.9528 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 16.25305, + "euclidean_distance": 10.08387, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.26123, + 2.91628, + 1.9167 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "dfa246b0d1fe4f08953b20151cf951c3", + "path": [ + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:32Z9ZLUT1NN5ZF4IT55HAJGZN9ROHW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.50534, + 3.11628, + 1.03262 + ], + "start_rotation": [ + 0, + 0.36695, + 0, + -0.93024 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.29099, + "euclidean_distance": 6.10419, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.62005, + 2.91628, + -4.83203 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "d804a36fe0fc40dfb8f03ca3758ce904" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1" + ], + "refined_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0" + ], + "d804a36fe0fc40dfb8f03ca3758ce904", + [ + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3U088ZLJVMW2TO7OMJP6LLU43PS0WB", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.98437, + 3.11628, + -3.93464 + ], + "start_rotation": [ + 0, + 0.88411, + 0, + 0.46728 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.65213, + "euclidean_distance": 7.13856, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.25416, + 2.91628, + -0.5306 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3WR9XG3T65E42XOOXC4W58L0R9O47G", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.54835, + 0.11628, + 2.00542 + ], + "start_rotation": [ + 0, + 0.89976, + 0, + 0.43638 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.53937, + "euclidean_distance": 3.43196, + "closest_goal_object_id": 197, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 1.25064, + 0.11628, + 5.29469 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "0_edge_126_newN_0", + "path": [ + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ], + "refined_path": [ + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ] + }, + { + "episode_id": "A2GQH4SWIOFH2L:3TUI152ZZDQXGGWK6TU071VSLKJQ1B", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.35685, + 0.11628, + 2.112 + ], + "start_rotation": [ + 0, + 0.82736, + 0, + -0.56168 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.84228, + "euclidean_distance": 6.71345, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.00881, + 0.11628, + 3.20106 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "0_edge_182_newN_0", + "path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0" + ], + "refined_path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:3H8DHMCCWBE5X8E19HUYCHKSBBUDKW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.52491, + 2.91628, + 4.12551 + ], + "start_rotation": [ + 0, + 0.95075, + 0, + 0.30995 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.88005, + "euclidean_distance": 5.99217, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.50919, + 2.91628, + -1.18571 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "d97dee547dac432094720d127b49b347", + "path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "A35NXCD0VE2I69:3JW0YLFXRVJV1E89FQIRSG3850BWWQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.44359, + 2.91628, + -1.5701 + ], + "start_rotation": [ + 0, + 0.78439, + 0, + -0.62026 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.71139, + "euclidean_distance": 5.53378, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.83388, + 2.91628, + 1.79352 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "0_edge_110_newN_0", + "path": [ + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A12H9WVHOB0E0O:3OS4RQUCRBI12PO3UACV1E4N0UPFBD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.50257, + 0.11628, + 2.57858 + ], + "start_rotation": [ + 0, + 0.29818, + 0, + -0.95451 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 16.0513, + "euclidean_distance": 14.39111, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.27244, + 0.11628, + -4.22661 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "b14dbfea048449aa8b8934cbf491a10a", + "path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + [ + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:386CSBG1O1PSN2XHCZ6H2XM9SQK6QZ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.31269, + 0.11628, + -5.6682 + ], + "start_rotation": [ + 0, + 0.71643, + 0, + 0.69766 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.82582, + "euclidean_distance": 4.97228, + "closest_goal_object_id": 412, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.40596, + 0.11628, + -1.1927 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "dd6ae3e4669546a4a7fd78186723d12f", + "path": [ + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "refined_path": [ + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + [ + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3A0EX8ZRNAR72G5YZ04JQZB366GYBW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.70693, + 0.11628, + -0.3342 + ], + "start_rotation": [ + 0, + 0.45311, + 0, + -0.89146 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.4876, + "euclidean_distance": 5.19439, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.25155, + 0.11628, + -4.2032 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "8b219cad487e4091b7c29146f0224729", + "path": [ + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3SLE99ER0PG776F3VM6246K5BR5ZBQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.53059, + 0.11628, + 2.71089 + ], + "start_rotation": [ + 0, + 0.64854, + 0, + 0.76118 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.87353, + "euclidean_distance": 10.23334, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.49444, + 0.11628, + 3.82863 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "bfd18e7fa8894c26a00f0cad55b31f76", + "path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + [ + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679" + ], + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54" + ], + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3KKG4CDWKK18GGCHC92GJ4C6N3349S", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.34988, + 0.11628, + -4.61549 + ], + "start_rotation": [ + 0, + 0.85199, + 0, + 0.52356 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 17.29337, + "euclidean_distance": 14.31282, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.63726, + 0.11628, + 7.08998 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_147_newN_1", + "path": [ + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_124_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "0_edge_124_newN_0", + [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ], + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3L70J4KAZIPZLV5FXQH9I3HW6YQDA5", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.52663, + 0.11628, + 5.20492 + ], + "start_rotation": [ + 0, + 0.5337, + 0, + 0.84567 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 17.56478, + "euclidean_distance": 13.26434, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.22852, + 2.91628, + -0.4929 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "947f02de64db4ccbbe220a9f9124a815", + "path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + [ + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815" + ], + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417" + ], + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A38AQF5BPHJS4C:3TVSS0C0E3339X4FKLDG5WW913MTWK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.19366, + 2.91628, + 3.4857 + ], + "start_rotation": [ + 0, + 0.83783, + 0, + -0.54593 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 13.55083, + "euclidean_distance": 9.36896, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.4944, + 2.91628, + -4.77381 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "0_edge_77_newN_0", + "path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + [ + "0bcfce0d81294b7e84a7eed52cb04a4e" + ], + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + [ + "d97dee547dac432094720d127b49b347" + ], + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + [ + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3PJUZCGDJ8J9ZHZJOCST0GSBOMN89K", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.99779, + 3.11628, + -3.45401 + ], + "start_rotation": [ + 0, + 0.89847, + 0, + 0.43903 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.00416, + "euclidean_distance": 6.53271, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.90851, + 2.91628, + -1.09293 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:354P56DE9M6N4IQZND0E3B166T6S7Z", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.79757, + 3.11628, + -4.41441 + ], + "start_rotation": [ + 0, + 0.50221, + 0, + -0.86474 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.78495, + "euclidean_distance": 9.38351, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.8167, + 2.91628, + 1.89068 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3VJ40NV2QKQV4OVDTZM6O2JNXWDTON", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.79413, + 2.91628, + 4.97899 + ], + "start_rotation": [ + 0, + 0.72346, + 0, + 0.69036 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 3.9193, + "euclidean_distance": 3.24386, + "closest_goal_object_id": 37, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.43549, + 2.91628, + 1.87293 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "0_edge_30_newN_1", + "path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1" + ], + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3JW0YLFXRVJV1E89FQIRSG384QLWWF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.35065, + 3.11628, + -4.82075 + ], + "start_rotation": [ + 0, + 0.67354, + 0, + -0.73915 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.19542, + "euclidean_distance": 3.76287, + "closest_goal_object_id": 79, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.09903, + 2.91628, + -4.00333 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:39GHHAVOMHUXMSPQYLTT8YQ9I1EJ4M", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.67729, + 0.11628, + -3.81006 + ], + "start_rotation": [ + 0, + 0.70013, + 0, + -0.71401 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.8847, + "euclidean_distance": 8.98594, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.55069, + 0.11628, + 3.61137 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_146_newN_0", + "path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_80_newN_0", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ], + "refined_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + [ + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0_edge_80_newN_0", + [ + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ] + ] + }, + { + "episode_id": "A16K7X677N4WN6:3B2X28YI3YI5JWVSTH9R78RA7VZB6J", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.02341, + 0.11628, + 6.29766 + ], + "start_rotation": [ + 0, + 0.99742, + 0, + 0.07184 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.61095, + "euclidean_distance": 4.26324, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.12032, + 0.11628, + 3.16404 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "0_edge_153_newN_2", + "path": [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3J4Q2Z4UT06QHHCN3HJL0RLMGRFQWK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.94241, + 0.11628, + -3.16566 + ], + "start_rotation": [ + 0, + 0.02374, + 0, + -0.99972 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.09055, + "euclidean_distance": 2.65155, + "closest_goal_object_id": 257, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.44989, + 0.11628, + -0.92667 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3I7DHKZYGP3ZD97UT0LIYS4VQZNF5Y", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.04014, + 0.11628, + -4.23334 + ], + "start_rotation": [ + 0, + 0.35635, + 0, + 0.93435 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 4.88593, + "euclidean_distance": 3.87321, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.16893, + 0.11628, + -4.56223 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "0_edge_66_newN_0", + "path": [ + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5" + ], + "instruction": "Locate the fireplace.", + "instr_encoding": [ + 101, + 12453, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "refined_path": [ + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ], + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ] + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3HMVI3QICLV6PIN6X3BUKNYUJKB1YH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.84157, + 3.11628, + -3.01649 + ], + "start_rotation": [ + 0, + 0.90365, + 0, + -0.42828 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.08537, + "euclidean_distance": 3.73245, + "closest_goal_object_id": 129, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -2.53566, + 2.91628, + -0.02391 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3XIQGXAUMEBV0ZCYHN612JIYK1C7XB", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.50647, + 0.11628, + -4.28018 + ], + "start_rotation": [ + 0, + 0.51525, + 0, + -0.85704 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.78986, + "euclidean_distance": 2.10518, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.31151, + 0.11628, + -4.37096 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:33JKGHPFYEX9985HJNLHNZOQENHMNO", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.89559, + 0.11628, + 7.62353 + ], + "start_rotation": [ + 0, + 0.36345, + 0, + 0.93161 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 10.64622, + "euclidean_distance": 3.32131, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.60944, + 0.11628, + 7.0593 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "a844e7823fe4425f96a265b8fc557cb7", + "path": [ + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_157_newN_0", + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "0_edge_157_newN_0", + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + [ + "0_edge_157_newN_0", + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0" + ], + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + [ + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "0_edge_157_newN_0", + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3OF2M9AATIR809JX1ZJV393VZVBZKS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.7993, + 2.91628, + 5.76851 + ], + "start_rotation": [ + 0, + 0.25422, + 0, + -0.96715 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 7.57954, + "euclidean_distance": 6.53126, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.57702, + 2.91628, + -0.76037 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "5635036d3bfb483eac283af7bb5ac986", + "path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986" + ], + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:36PW28KO41Z4D1JFTLSTOLZH6ASAEW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.80042, + 0.11628, + -4.10772 + ], + "start_rotation": [ + 0, + 0.78407, + 0, + 0.62068 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 2.41107, + "euclidean_distance": 2.26352, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.25751, + 0.11628, + -1.83509 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3TY7ZAOG5HNBYOD7X563XA09HOOK0H", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.08818, + 0.11628, + -1.07298 + ], + "start_rotation": [ + 0, + 0.90034, + 0, + -0.43518 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 11.66713, + "euclidean_distance": 10.52225, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.19504, + 0.11628, + -3.82702 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "dc9eb48ee3324792889cc391d6d4098c", + "path": [ + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "refined_path": [ + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:31T4R4OBOUJ7X113QRAEO6XOJJP7CA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.16017, + 3.11628, + -4.01494 + ], + "start_rotation": [ + 0, + 0.30561, + 0, + -0.95216 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.10159, + "euclidean_distance": 4.26308, + "closest_goal_object_id": 129, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -2.5145, + 2.91628, + -0.15656 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0" + ], + "d804a36fe0fc40dfb8f03ca3758ce904", + [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:3KXIR214I6JXGWRIR0N19H4SGUO24M", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.28428, + 2.91628, + -1.67801 + ], + "start_rotation": [ + 0, + 0.84754, + 0, + -0.53073 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.46599, + "euclidean_distance": 5.24086, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.18159, + 1.33222, + 1.30937 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_33_newN_1", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "0_edge_33_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3NS0A6KXC6B3YNNEB8YG5HB2R61ZGF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.88796, + 0.11628, + 5.38567 + ], + "start_rotation": [ + 0, + 0.18025, + 0, + 0.98362 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.17003, + "euclidean_distance": 8.61941, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.6438, + 0.11628, + 2.62782 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "71472b1d6fbf4d6192ed9917bff8dba7", + "path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "AW1QY7Q83DYCJ:39LNWE0K4WZ08FZZV9ZB9193596IUA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.84668, + 3.11628, + -5.13394 + ], + "start_rotation": [ + 0, + 0.46092, + 0, + 0.88744 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 12.50531, + "euclidean_distance": 9.83512, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.77247, + 2.91628, + 1.85306 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "0_edge_73_newN_0", + "path": [ + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3V5Q80FXIZUCY08ERMIIZCCMZY932O", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.25745, + 0.11628, + 1.92547 + ], + "start_rotation": [ + 0, + 0.94018, + 0, + -0.34067 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 8.769, + "euclidean_distance": 5.53569, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.4196, + 0.11628, + -1.9273 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "cdafd704291841daaa57ce008a95a06a", + "path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Locate the fireplace.", + "instr_encoding": [ + 101, + 12453, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3K2755HG5U6UHMMN8631W4SNZF2DFF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.84196, + 0.11628, + -1.25544 + ], + "start_rotation": [ + 0, + 0.7373, + 0, + -0.67557 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.1511, + "euclidean_distance": 6.55307, + "closest_goal_object_id": 412, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.38336, + 0.11628, + -1.24731 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "0_edge_2_newN_0", + "path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3ZDAD0O1T3GIYX95UQ927FAG668TXR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.68812, + 2.91628, + 6.38353 + ], + "start_rotation": [ + 0, + 0.84693, + 0, + -0.53171 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 13.73486, + "euclidean_distance": 5.96139, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.01935, + 0.11628, + 2.52608 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "eba5ca774e2a41dfa6e22fbff7fe66d2", + "path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3NQL1CS15TBMBU344HVJRB5A5XIVYF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.54399, + 3.11628, + -3.43582 + ], + "start_rotation": [ + 0, + 0.99914, + 0, + 0.04152 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.08694, + "euclidean_distance": 1.69507, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.08379, + 2.91628, + -1.78787 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:36TFCYNS46DSTOIAUWSDTW7SVCAXHI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.48607, + 3.11628, + -4.08863 + ], + "start_rotation": [ + 0, + 0.86191, + 0, + -0.50706 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.81579, + "euclidean_distance": 8.16726, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.53905, + 2.91628, + -4.83626 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3NG53N1RLXMUR4FQ51OQM6SQQUKP8G", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.38014, + 0.11628, + -5.44359 + ], + "start_rotation": [ + 0, + 0.25073, + 0, + -0.96806 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 9.41039, + "euclidean_distance": 8.60205, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.29801, + 0.11628, + -2.38017 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "3c496aedd9d645a5b8d7a7b1b53f0636", + "path": [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1" + ], + "refined_path": [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3018Q3ZVOKTTM5OKFRCTNSY0H0ZRA5", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.48774, + 0.11628, + 2.27366 + ], + "start_rotation": [ + 0, + 0.13718, + 0, + 0.99055 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.22841, + "euclidean_distance": 2.33423, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.22028, + 0.11628, + 2.21319 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "0_edge_182_newN_0", + "path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:392CY0QWG3U1RH5KG38TWXB92UUI4R", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.33126, + 3.11628, + -3.66767 + ], + "start_rotation": [ + 0, + 0.90984, + 0, + 0.41496 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 11.28603, + "euclidean_distance": 8.76177, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.95108, + 0.11628, + 3.22607 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3L70J4KAZIPZLV5FXQH9I3HW206DAL", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.46757, + 3.11628, + -3.50533 + ], + "start_rotation": [ + 0, + 0.62996, + 0, + -0.77663 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 14.68546, + "euclidean_distance": 12.59388, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.67768, + 0.11628, + 6.92176 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:30X31N5D65T5NKOXUGCYD23W32TASN", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.58971, + 2.91628, + 6.33915 + ], + "start_rotation": [ + 0, + 0.75347, + 0, + -0.65748 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 17.34786, + "euclidean_distance": 4.00122, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.31302, + 0.11628, + 3.46099 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "81df67c58e324caca152f29eb64f6993", + "path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Find the fireplace.", + "instr_encoding": [ + 101, + 2424, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + [ + "81df67c58e324caca152f29eb64f6993" + ], + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "0_edge_157_newN_2", + [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3HMIGG0U4N9O0I7RWOK9ZXL2TWI8YH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.635, + 0.11628, + -5.21292 + ], + "start_rotation": [ + 0, + 0.71612, + 0, + -0.69798 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.24539, + "euclidean_distance": 5.35065, + "closest_goal_object_id": 267, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.92802, + 0.11628, + -0.938 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "dbcf0a37c275473094e1160770291679", + "path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "AJTLLYV8O5FQU:3OHYZ19UGE8QPSW4NZVPTXTV6EYAO0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.27425, + 2.91628, + -5.8301 + ], + "start_rotation": [ + 0, + 0.29274, + 0, + -0.95619 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.62043, + "euclidean_distance": 9.46111, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.8275, + 0.11628, + 3.13955 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "8388153c198e4e4fb75cd8d0fd96d8a2", + "path": [ + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:39ZSFO5CAAZW3QJ5DRKBL2O3EMZUJU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.62154, + 0.11628, + 1.49317 + ], + "start_rotation": [ + 0, + 0.65203, + 0, + 0.75819 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.6473, + "euclidean_distance": 2.74623, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.03605, + 0.11628, + 2.72669 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "3c5c466d4f64452a9e87c545d918c4eb", + "path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ], + "refined_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + [ + "8f5a767771964a56b3708d5415c446b2" + ] + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3QL2OFSM98LW0MTQ6YR3K3JEG6CCNL", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.72389, + 2.91628, + -0.82991 + ], + "start_rotation": [ + 0, + 0.19284, + 0, + -0.98123 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 12.14631, + "euclidean_distance": 5.21865, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.25271, + 0.11628, + 3.52156 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "addb4d69f82243fb9a38c4d615651ba7", + "path": [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Navigate to the fireplace.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:34S6N1K2ZXMXTU1LGDPPI2C5O4PHL7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.90782, + 2.91628, + -4.13124 + ], + "start_rotation": [ + 0, + 0.91987, + 0, + -0.39221 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.99055, + "euclidean_distance": 7.7503, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.08237, + 0.11628, + 2.86406 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "2c449dc925de472ca31124feca25a01a", + "path": [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "refined_path": [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3LKC68YZ3C6NW5Z7O4RHBMQMYWYOWK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.00137, + 2.91628, + 4.9639 + ], + "start_rotation": [ + 0, + 0.84443, + 0, + 0.53566 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 12.98963, + "euclidean_distance": 5.26239, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.03832, + 0.11628, + 2.93488 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "0_edge_30_newN_1", + "path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + [ + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:31Q0U3WYDRINAYR5AULU7AEXCUC175", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.39087, + 0.11628, + -4.04032 + ], + "start_rotation": [ + 0, + 0.78987, + 0, + -0.61327 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 10.52818, + "euclidean_distance": 7.63149, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.23825, + 0.11628, + 3.38724 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ], + "instruction": "Locate the fireplace.", + "instr_encoding": [ + 101, + 12453, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "refined_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ] + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3B837J3LDQZXM1AEWRYK8SS636CRS7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.32128, + 0.11628, + 2.33223 + ], + "start_rotation": [ + 0, + 0.98467, + 0, + -0.17445 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.91383, + "euclidean_distance": 5.06238, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.19292, + 0.11628, + -1.27583 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "b14dbfea048449aa8b8934cbf491a10a", + "path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3Z4XG4ZF4AUZ0DHHRSY7GJETSTVX8E", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.26387, + 0.11628, + -5.77326 + ], + "start_rotation": [ + 0, + 0.83892, + 0, + 0.54426 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.04589, + "euclidean_distance": 6.165, + "closest_goal_object_id": 422, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.48339, + 0.11628, + -0.44003 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "723a213fbaa847f2a44feac9246fd7b1", + "path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3" + ], + "refined_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0" + ], + "dfa246b0d1fe4f08953b20151cf951c3" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:35L9RVQFCQL0CKOFPRHQ9P8O1UZHUG", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.46914, + 0.11628, + 6.42585 + ], + "start_rotation": [ + 0, + 0.63004, + 0, + -0.77656 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.94383, + "euclidean_distance": 4.66998, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.23415, + 0.11628, + 3.23306 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "0_edge_157_newN_2", + "path": [ + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "refined_path": [ + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3VP0C6EFSIZ12NZPK6Z0LO24FVJ6MH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.59831, + 2.91628, + 1.2875 + ], + "start_rotation": [ + 0, + 0.9769, + 0, + 0.2137 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 14.57474, + "euclidean_distance": 7.57676, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.73763, + 0.11628, + 6.98122 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "d339130a5534437da266a71435143314", + "path": [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:39RP059MEJW78ZGKGXG8W4OWTVYMBK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.58676, + 2.91628, + 3.02454 + ], + "start_rotation": [ + 0, + 0.83608, + 0, + 0.54861 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 16.60501, + "euclidean_distance": 10.03043, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.2042, + 0.11628, + 3.54081 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "0cb5fac1789e42d5a99cc87f4ef8cb35", + "path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Go to the fireplace.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:31LVTDXBL9DAIOFOCI1JW6EBBC7LRQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.48863, + 2.91628, + 5.24411 + ], + "start_rotation": [ + 0, + 0.47576, + 0, + -0.87958 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.59514, + "euclidean_distance": 5.16681, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.04418, + 0.11628, + 2.64439 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "0_edge_30_newN_1", + "path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3A4NIXBJ782JL82W7A52A7K15P6ML1", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.53802, + 2.91628, + 3.72007 + ], + "start_rotation": [ + 0, + 0.96583, + 0, + -0.25918 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 13.83464, + "euclidean_distance": 4.66916, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.96288, + 0.11628, + 2.64013 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "0cb5fac1789e42d5a99cc87f4ef8cb35", + "path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + [ + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:39LNWE0K4WZ08FZZV9ZB919317DIU9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.23756, + 2.91628, + 1.36337 + ], + "start_rotation": [ + 0, + 0.28593, + 0, + -0.95825 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 11.6131, + "euclidean_distance": 6.06115, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.07845, + 0.11628, + 2.87458 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3TDXMTX3CDXF649YZR18TVVNYMCI6Q", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.82042, + 2.91628, + -0.56754 + ], + "start_rotation": [ + 0, + 0.81942, + 0, + -0.5732 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 13.59588, + "euclidean_distance": 9.98752, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.57938, + 0.11628, + 7.06683 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "8f25ebb1c23d4fddb035eb336426d5fa", + "path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1" + ], + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:31Z0PCVWUMIOJI3ECD54DGXS4EAT7F", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.08732, + 0.11628, + -0.67361 + ], + "start_rotation": [ + 0, + 0.3255, + 0, + 0.94554 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.91466, + "euclidean_distance": 7.71329, + "closest_goal_object_id": 402, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.19006, + 0.11628, + 6.73666 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "8b55e4f095374cfe8ddb0fda0f0dfa02", + "path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "b3c99ac15d9546cd9d58a45647f63934", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ], + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5" + ], + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + [ + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ], + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:388U7OUMF94XLSQ2NPF0YMMN8E4R0V", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.82508, + 0.11628, + -1.46905 + ], + "start_rotation": [ + 0, + 0.87919, + 0, + 0.47647 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 16.62496, + "euclidean_distance": 12.25601, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.68632, + 0.11628, + 6.9979 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "84928b00abef4a8489bcaa2ce410d1e5", + "path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + [ + "84928b00abef4a8489bcaa2ce410d1e5" + ], + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3QFUFYSY90IHHQ3UFV28T0YHM3S4FE", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.21322, + 0.11628, + 5.47778 + ], + "start_rotation": [ + 0, + 0.71949, + 0, + 0.69451 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 15.2942, + "euclidean_distance": 10.95044, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.6706, + 0.11628, + 7.02239 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "947f02de64db4ccbbe220a9f9124a815", + "path": [ + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815" + ], + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3T3IWE1XG8QYP08T8CEAD7EN93PTQY", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.9652, + 0.11628, + 4.62478 + ], + "start_rotation": [ + 0, + 0.99113, + 0, + 0.13291 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 4.84243, + "euclidean_distance": 4.37373, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.18926, + 0.11628, + 3.46209 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "e5f8d864ab7545d3bae0e56a527041ec", + "path": [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Go to the fireplace.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3K5TEWLKGXE0LUOZ0Z9G5NBMFEHVI6", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.22339, + 0.11628, + -3.3456 + ], + "start_rotation": [ + 0, + 0.06066, + 0, + -0.99816 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 3.20826, + "euclidean_distance": 2.8761, + "closest_goal_object_id": 422, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.38881, + 0.11628, + -0.4785 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "8b8c58d65b3049ef8a844f237096b06d", + "path": [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3G0WWMR1UXN0UN39BGSY488VKLZQNQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.93275, + 3.11628, + -4.31356 + ], + "start_rotation": [ + 0, + 0.99998, + 0, + 0.00631 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.69765, + "euclidean_distance": 2.52826, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.09067, + 2.91628, + -1.70763 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:31JLPPHS2WXQ57XJEKGF6PFP03OO3Y", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.59309, + 3.11628, + 1.28713 + ], + "start_rotation": [ + 0, + 0.99008, + 0, + -0.14053 + ], + "object_category": "table", + "info": { + "geodesic_distance": 7.34019, + "euclidean_distance": 5.56624, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.58911, + 2.91628, + -1.19178 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b" + ] + }, + { + "episode_id": "A2J5DN5UMU0A3Z:33NF62TLXL5I0UETJDG9FFF5CV7JKS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.98739, + 2.91628, + -3.64664 + ], + "start_rotation": [ + 0, + 0.95796, + 0, + 0.28691 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.01434, + "euclidean_distance": 2.62654, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.69515, + 2.91628, + -1.3508 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "0_edge_169_newN_0", + "path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "0_edge_134_newN_0", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3CP1TO84PV4FCFVI556BE9A6DVE25T", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.35339, + 0.11628, + -1.63357 + ], + "start_rotation": [ + 0, + 0.933, + 0, + -0.35987 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 9.59515, + "euclidean_distance": 8.98951, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.65566, + 0.11628, + 6.91738 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0cd0dd452a324496afd701e1c4b2e973", + "path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3ZGVPD4G6VK73S9KV8XN40QRE6BTZT", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.65503, + 2.91628, + -4.138 + ], + "start_rotation": [ + 0, + 0.87656, + 0, + -0.48129 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 9.23437, + "euclidean_distance": 7.89036, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.01699, + 0.11628, + 3.18133 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "2c449dc925de472ca31124feca25a01a", + "path": [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3X4MXAO0BIRQTIRNGW8L5HVR9JHWR0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.31658, + 0.11628, + 0.76886 + ], + "start_rotation": [ + 0, + 0.46039, + 0, + -0.88771 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 2.56452, + "euclidean_distance": 2.21022, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.34331, + 0.11628, + -1.23822 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "181c56d99ddd42ba8d4be09dbb135381", + "path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "refined_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:39K0FND3AJI2PPBSAJGC1T4QBD0MAC", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.16524, + 2.91628, + -4.56847 + ], + "start_rotation": [ + 0, + 0.92016, + 0, + 0.39155 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.02169, + "euclidean_distance": 4.77216, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.61014, + 2.91628, + -1.4184 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "0_edge_7_newN_1", + "path": [ + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3TR2532VIRXB1FT4H9M85WANB0IJ6I", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.63568, + 2.91628, + -0.11999 + ], + "start_rotation": [ + 0, + 0.03549, + 0, + 0.99937 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.87252, + "euclidean_distance": 6.6823, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.08744, + 0.11628, + 2.65971 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "080a334ceb144054b12c4ed7847b8f71", + "path": [ + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A74PT3GRDMEZ:3C8HJ7UOP9X3QXJ0MBWBIMVZJV8MZ7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.09571, + 3.11628, + -5.32764 + ], + "start_rotation": [ + 0, + 0.6286, + 0, + 0.77773 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 10.4017, + "euclidean_distance": 8.62913, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.27916, + 1.24583, + 1.43662 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "0_edge_73_newN_0", + "path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:34Z02EIMIUGA173UREKVY1N5VW3T05", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.38389, + 3.11628, + -5.47226 + ], + "start_rotation": [ + 0, + 0.09734, + 0, + 0.99525 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.52365, + "euclidean_distance": 5.70676, + "closest_goal_object_id": 129, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -2.56915, + 2.91628, + -0.22949 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "0_edge_73_newN_0", + "path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ], + "refined_path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:34HJIJKLP7Z6DNPKFA7CBM139SY4V9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.58209, + 0.11628, + 1.62314 + ], + "start_rotation": [ + 0, + 0.6268, + 0, + 0.77918 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.82163, + "euclidean_distance": 3.2235, + "closest_goal_object_id": 370, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.49586, + 0.11628, + -1.42239 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "dfa246b0d1fe4f08953b20151cf951c3", + "path": [ + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A74PT3GRDMEZ:3BQU611VFRN9DMITT4Y70CNM4T3996", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.13884, + 0.11628, + -5.86837 + ], + "start_rotation": [ + 0, + 0.06243, + 0, + 0.99805 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 21.20939, + "euclidean_distance": 12.28766, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.33762, + 2.91628, + 1.85036 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "723a213fbaa847f2a44feac9246fd7b1", + "path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3IRIK4HM3CNOT1NY7H5MISXSKDLC62", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.54058, + 3.11628, + -2.79242 + ], + "start_rotation": [ + 0, + 0.97268, + 0, + -0.23216 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 7.79065, + "euclidean_distance": 7.41226, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.55652, + 2.91628, + -0.57701 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3ZSANO2JCHA0JB555WYQR3ENZFHFS9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.06898, + 0.11628, + -3.46061 + ], + "start_rotation": [ + 0, + 0.72623, + 0, + -0.68745 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.36169, + "euclidean_distance": 8.47759, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.71659, + 0.11628, + 3.69099 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "f53ff13e8a954c67bda9a46f3e2e88b8", + "path": [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ], + "refined_path": [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + [ + "db59566f6465453d88a27b5bcb19b096" + ], + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ] + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3F0BG9B9MRQK0428MJS3LXP7ICJ7Y0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.56304, + 0.11628, + 0.28432 + ], + "start_rotation": [ + 0, + 0.97275, + 0, + 0.23186 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.95263, + "euclidean_distance": 13.26928, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.5059, + 0.11628, + -1.57729 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "0_edge_124_newN_0", + "path": [ + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + [ + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A3G5OWGKHW6OL5:3WETL7AQWVB4XXR195KGXJFYJ6E35Z", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.28269, + 2.91628, + 1.93094 + ], + "start_rotation": [ + 0, + 0.99982, + 0, + 0.01882 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.04323, + "euclidean_distance": 9.93878, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.51108, + 2.91628, + -4.76112 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "4bb7642a8af44f97acb81190589a3451", + "path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A16K7X677N4WN6:33LKR6A5KGNA8WOCNXOVC66F0O4T13", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.34341, + 2.91628, + 4.62326 + ], + "start_rotation": [ + 0, + 0.39689, + 0, + -0.91787 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 6.60714, + "euclidean_distance": 5.33913, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.68935, + 2.91628, + -0.69243 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "d97dee547dac432094720d127b49b347", + "path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "AJTLLYV8O5FQU:3PJUZCGDJ8J9ZHZJOCST0GSBKN9985", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.25244, + 2.91628, + -1.80603 + ], + "start_rotation": [ + 0, + 0.54233, + 0, + 0.84016 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.19137, + "euclidean_distance": 3.10509, + "closest_goal_object_id": 163, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.43706, + 2.91628, + 0.78754 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "53672af2c15047818f2ead24a2370930", + "path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ], + "refined_path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ] + }, + { + "episode_id": "A2Y87M8V0N1M6P:33FOTY3KEOOTMFM11BT5NW6BC26C15", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.72508, + 2.91628, + -1.71576 + ], + "start_rotation": [ + 0, + 0.90763, + 0, + -0.41977 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.46736, + "euclidean_distance": 3.44331, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.95591, + 2.91628, + -4.20157 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "0_edge_110_newN_0", + "path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71" + ], + "refined_path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:37ZHEEHM6YPJK15KXYZDV3TU9BZ371", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.33392, + 3.11628, + -5.21004 + ], + "start_rotation": [ + 0, + 0.66681, + 0, + 0.74523 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 10.53811, + "euclidean_distance": 9.01687, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.19124, + 1.2378, + 1.42993 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "723a213fbaa847f2a44feac9246fd7b1", + "path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "dcced7b92f444b9a83bd7d54413fa486", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_33_newN_1", + "9001b330086e4aa69799729560e6dca0", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "refined_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa" + ], + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3ZWFC4W1UWAOIW5SQ7YL1T9RDDMFR9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.33002, + 0.11628, + -3.38768 + ], + "start_rotation": [ + 0, + 0.87929, + 0, + 0.4763 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.64315, + "euclidean_distance": 9.92376, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.26193, + 2.91628, + 1.98983 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "0_edge_146_newN_0", + "path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3Y54SXRO1NOQHTFAPLYFN8BCBLVTUW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.87183, + 2.91628, + 3.69347 + ], + "start_rotation": [ + 0, + 0.89718, + 0, + 0.44167 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 12.08703, + "euclidean_distance": 8.16378, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.50855, + 2.91628, + -1.08407 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "0bcfce0d81294b7e84a7eed52cb04a4e", + "path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3PS7W85Z815SX1R7RA3ORCOYY06T9Q", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.21493, + 2.91628, + -1.4524 + ], + "start_rotation": [ + 0, + 0.62201, + 0, + -0.78301 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 4.99649, + "euclidean_distance": 4.1571, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.83418, + 2.91628, + 1.88001 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "3532b1e7ea1646848b710936d4696a5d", + "path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3HYA4D452TM7ECO7BHJK0L1J1LSF2G", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.98976, + 2.91628, + -1.2696 + ], + "start_rotation": [ + 0, + 0.95194, + 0, + -0.30627 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.12581, + "euclidean_distance": 4.91708, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.97729, + 2.91628, + 1.78948 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "0_edge_110_newN_0", + "path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0" + ], + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:38JBBYETQQDPBC3YKKI2BIDH9YNE47", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.36028, + 0.11628, + 1.9129 + ], + "start_rotation": [ + 0, + 0.58343, + 0, + -0.81216 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 8.82557, + "euclidean_distance": 5.75423, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.65279, + 2.91628, + -0.64692 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "db59566f6465453d88a27b5bcb19b096", + "path": [ + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3IX2EGZR7DM4NYRO9XP6GR1J6KGJRT", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.77497, + 2.91628, + -1.7038 + ], + "start_rotation": [ + 0, + 0.76756, + 0, + 0.64097 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.74805, + "euclidean_distance": 8.30391, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.30806, + 2.91628, + 1.83128 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + [ + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096" + ], + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + [ + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:36DSNE9QZ711QLZ8H582MWWEVXAOJ3", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.65118, + 2.91628, + 0.37713 + ], + "start_rotation": [ + 0, + 0.94595, + 0, + 0.3243 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.00175, + "euclidean_distance": 2.72815, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.99873, + 2.91628, + -1.01441 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "9001b330086e4aa69799729560e6dca0", + "path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_169_newN_1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "refined_path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0" + ], + "c4fc538718cc4918884d2040ce523a5f", + [ + "0_edge_134_newN_0", + "0_edge_110_newN_0" + ], + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16" + ], + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "A2FRVUNDQQY7S9:3QUO65DNQWRA41A2T4CGTY5PCDMUOJ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.19011, + 2.91628, + 1.65689 + ], + "start_rotation": [ + 0, + 0.99989, + 0, + 0.0145 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 7.8331, + "euclidean_distance": 6.36447, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.11576, + 2.91628, + -4.34351 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_30_newN_1", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b" + ], + "refined_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + [ + "d97dee547dac432094720d127b49b347" + ], + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3L70J4KAZIPZLV5FXQH9I3HW1WUADX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.4784, + 2.91628, + -4.31817 + ], + "start_rotation": [ + 0, + 0.51438, + 0, + -0.85756 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.84436, + "euclidean_distance": 3.50562, + "closest_goal_object_id": 92, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.47117, + 2.91628, + -7.16836 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "0_edge_169_newN_0", + "path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3LRKMWOKB7KDJTF7CTDR3DH1DP7Z27", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.52473, + 2.91628, + 0.58588 + ], + "start_rotation": [ + 0, + 0.9998, + 0, + 0.01985 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.45829, + "euclidean_distance": 3.39038, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.61933, + 2.91628, + 3.15431 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "625eb179629b45f280c01d3f6ec74b4f", + "path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:34T446B1C2HTFQ1J5SP59RN17910CP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.24968, + 2.91628, + 1.36811 + ], + "start_rotation": [ + 0, + 0.63078, + 0, + -0.77596 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.6745, + "euclidean_distance": 3.07251, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.73973, + 2.91628, + 3.15537 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "refined_path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:304SM51WA57A6UTP0UCU8DN2KHUSB9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.26425, + 2.5277, + -0.22116 + ], + "start_rotation": [ + 0, + 0.57421, + 0, + -0.81871 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 2.95392, + "euclidean_distance": 1.95469, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.16441, + 2.91628, + -0.52522 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "9001b330086e4aa69799729560e6dca0", + "path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3EJPLAJKEOJ11UY8ZVPUTQYDUWR6ZI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.13982, + 0.11628, + 4.74686 + ], + "start_rotation": [ + 0, + 0.9994, + 0, + 0.0346 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 8.87265, + "euclidean_distance": 8.49566, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.27513, + 0.11628, + -3.78959 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "0_edge_204_newN_1", + "path": [ + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "refined_path": [ + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + [ + "0_edge_204_newN_1" + ], + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + [ + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:32KTQ2V7RFIOK61NID2C5YT65T89M6", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.56834, + 3.11628, + -3.07476 + ], + "start_rotation": [ + 0, + 0.60836, + 0, + -0.79366 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 8.87351, + "euclidean_distance": 6.50215, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.90337, + 2.91628, + -4.10889 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3FE7TXL1LKQ451EGPXUECK5X8N42Q0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.25585, + 2.91628, + 3.86509 + ], + "start_rotation": [ + 0, + 0.29826, + 0, + -0.95449 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.83195, + "euclidean_distance": 2.0185, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.39747, + 2.91628, + 1.83107 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_33_newN_1", + "path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:38JBBYETQQDPBC3YKKI2BIDH9YN4EX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.1925, + 0.11628, + 5.43745 + ], + "start_rotation": [ + 0, + 0.91505, + 0, + 0.40334 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 13.7754, + "euclidean_distance": 7.16061, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.38546, + 2.91628, + -1.01546 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "71472b1d6fbf4d6192ed9917bff8dba7", + "path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3U5JL4WY5MCYHCUFFP8UZ7YOQ594XK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.73046, + 2.91628, + 0.74568 + ], + "start_rotation": [ + 0, + 0.98978, + 0, + 0.14257 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 9.03673, + "euclidean_distance": 6.51029, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.94342, + 2.91628, + -4.24707 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "34a370fe2d1840e196a491db1e995e16", + "path": [ + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "refined_path": [ + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314" + ], + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3TMFV4NEPAHKBDCRHN2LE00MINVW8H", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.16007, + 3.11628, + -4.80664 + ], + "start_rotation": [ + 0, + 0.98451, + 0, + 0.1753 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.21458, + "euclidean_distance": 4.78057, + "closest_goal_object_id": 129, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -2.44392, + 2.91628, + -0.11091 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "0_edge_146_newN_1", + "path": [ + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ], + "refined_path": [ + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ] + }, + { + "episode_id": "A18JNQE5GZQIX5:3YMU66OBIPBH72NK5MS95A7XRJNHGC", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.77232, + 0.11628, + 0.96502 + ], + "start_rotation": [ + 0, + 0.8811, + 0, + 0.47293 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.47523, + "euclidean_distance": 3.72432, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.32994, + 0.11628, + -1.88415 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "3c5c466d4f64452a9e87c545d918c4eb", + "path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3BDCF01OGZXJFPRAQDTD4278DWOLYN", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.53854, + 0.11628, + -3.00535 + ], + "start_rotation": [ + 0, + 0.18675, + 0, + -0.98241 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 2.19347, + "euclidean_distance": 1.9919, + "closest_goal_object_id": 319, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.6181, + 0.11628, + -4.80124 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "f53ff13e8a954c67bda9a46f3e2e88b8", + "path": [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "8f25ebb1c23d4fddb035eb336426d5fa", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "0_edge_30_newN_1", + "eba5ca774e2a41dfa6e22fbff7fe66d2" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ], + "refined_path": [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f" + ], + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347" + ], + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "eba5ca774e2a41dfa6e22fbff7fe66d2", + [ + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:37M28K1J0SGCOH577M3KL1C96GPAJ9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.96875, + 0.11628, + 3.03149 + ], + "start_rotation": [ + 0, + 0.69225, + 0, + 0.72166 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.3102, + "euclidean_distance": 7.71427, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.61978, + 0.11628, + 3.65302 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "6561b21dac894dfca3473db3037dbfad", + "path": [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "1f7f69e3874c48b8b9caf0548240603f", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ], + "refined_path": [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679" + ], + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + [ + "3c496aedd9d645a5b8d7a7b1b53f0636" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + [ + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ] + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3QFUFYSY90IHHQ3UFV28T0YHLZLF49", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.06522, + 0.11628, + -0.55366 + ], + "start_rotation": [ + 0, + 0.92213, + 0, + 0.38688 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 14.16301, + "euclidean_distance": 3.88588, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.22297, + 2.91628, + 1.95132 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "0_edge_26_newN_1", + "path": [ + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "1d8256878b534440b5ba54b31bfb210b" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + [ + "db59566f6465453d88a27b5bcb19b096" + ], + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + [ + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa" + ], + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3J4Q2Z4UT06QHHCN3HJL0RLMCUOQWV", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.47179, + 2.91628, + -1.32487 + ], + "start_rotation": [ + 0, + 0.28941, + 0, + -0.95721 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.02228, + "euclidean_distance": 6.61942, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.27369, + 2.91628, + 1.94128 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "53672af2c15047818f2ead24a2370930", + "path": [ + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3JMSRU9HQKXO5PMD4GJPK8DUMI6EV5", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.50155, + 3.11628, + -3.85655 + ], + "start_rotation": [ + 0, + 0.02888, + 0, + -0.99958 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.65917, + "euclidean_distance": 10.0763, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.78829, + 2.91628, + 1.86613 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "4e1ad142e5844d21a376040600184d9a", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "34a370fe2d1840e196a491db1e995e16", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + [ + "0_edge_146_newN_0" + ], + "4e1ad142e5844d21a376040600184d9a", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "eba5ca774e2a41dfa6e22fbff7fe66d2", + [ + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:39GHHAVOMHUXMSPQYLTT8YQ9E6FJ4T", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.92245, + 0.11628, + -3.55016 + ], + "start_rotation": [ + 0, + 0.35718, + 0, + -0.93404 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 2.44025, + "euclidean_distance": 2.09372, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.33435, + 0.11628, + -1.97406 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33CID57106WIZMUM1S0NE8BV4VK3LQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.71987, + 2.91628, + -4.36671 + ], + "start_rotation": [ + 0, + 0.46232, + 0, + -0.88671 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.26863, + "euclidean_distance": 6.10751, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.97679, + 2.91628, + 1.77646 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "0_edge_7_newN_1", + "path": [ + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3XLBSAQ9Z6FK5UCDI5UMZ4Y9O64Z70", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.12146, + 0.11628, + -1.01173 + ], + "start_rotation": [ + 0, + 0.71096, + 0, + -0.70323 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 15.65902, + "euclidean_distance": 12.45895, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.63198, + 0.11628, + -1.58864 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "dc9eb48ee3324792889cc391d6d4098c", + "path": [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3BV8HQ2ZZY400MQ0N39VCX74KA16AV", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.09921, + 2.91628, + -1.87614 + ], + "start_rotation": [ + 0, + 0.14307, + 0, + -0.98971 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.32029, + "euclidean_distance": 2.71877, + "closest_goal_object_id": 163, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.46156, + 2.91628, + 0.87459 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "53672af2c15047818f2ead24a2370930", + "path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ], + "refined_path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3E47SOBEYSZ4MLIZ9IEBFVNXT4OCI4", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.25842, + 3.11628, + -3.61389 + ], + "start_rotation": [ + 0, + 0.47457, + 0, + 0.88022 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.7147, + "euclidean_distance": 6.62444, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.17096, + 1.24991, + 1.40605 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "A74PT3GRDMEZ:33C7UALJVN1RACWOKZD0LAASMB181B", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.62884, + 0.11628, + 0.29368 + ], + "start_rotation": [ + 0, + 0.99051, + 0, + 0.13747 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.56613, + "euclidean_distance": 12.09295, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.67074, + 0.11628, + -1.67717 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "181c56d99ddd42ba8d4be09dbb135381", + "path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "dfa246b0d1fe4f08953b20151cf951c3", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + [ + "181c56d99ddd42ba8d4be09dbb135381" + ], + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + [ + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0" + ], + "dfa246b0d1fe4f08953b20151cf951c3", + [ + "cdafd704291841daaa57ce008a95a06a" + ], + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3HYA4D452TM7ECO7BHJK0L1J2MFF26", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.39052, + 0.11628, + 1.22167 + ], + "start_rotation": [ + 0, + 0.99823, + 0, + -0.05941 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 13.81623, + "euclidean_distance": 11.2007, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.21953, + 0.11628, + -4.23181 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "181c56d99ddd42ba8d4be09dbb135381", + "path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ], + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3QL2OFSM98LW0MTQ6YR3K3JEF35NCI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.77108, + 2.91628, + -4.38518 + ], + "start_rotation": [ + 0, + 0.74851, + 0, + -0.66312 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 5.36764, + "euclidean_distance": 3.68684, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.31163, + 2.91628, + -1.03088 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "12bce16a8b8e424bba0742b82a46352b", + "path": [ + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A2A7O6KYJ9GS8A:3U0SRXB7CF806OI9OVHY9YI0F4ORN8", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.01194, + 0.11628, + 2.84312 + ], + "start_rotation": [ + 0, + 0.10392, + 0, + -0.99459 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.53898, + "euclidean_distance": 5.96318, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.25634, + 2.91628, + -0.40533 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "50629d10507840cba1ff155045d3f76b", + "path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + [ + "50629d10507840cba1ff155045d3f76b" + ], + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:333U7HK6IBIAMO8JRWUMB2KFRJHJDF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.50428, + 0.11628, + 2.30158 + ], + "start_rotation": [ + 0, + 0.8325, + 0, + -0.55402 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 8.46705, + "euclidean_distance": 5.83814, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.59714, + 2.91628, + -0.77777 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "50629d10507840cba1ff155045d3f76b", + "path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3LWJHTCVCEPO6VQSDS9LW3ZMHRJQFI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.13431, + 0.11628, + 2.65135 + ], + "start_rotation": [ + 0, + 0.25553, + 0, + -0.9668 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 8.68512, + "euclidean_distance": 6.28616, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.68874, + 2.91628, + -0.62661 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "50629d10507840cba1ff155045d3f76b", + "path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "refined_path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + [ + "50629d10507840cba1ff155045d3f76b" + ], + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:34V1S5K3GU4MV3GVVXVVG2WKESP69M", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.62273, + 2.91628, + 1.19312 + ], + "start_rotation": [ + 0, + 0.94558, + 0, + -0.32539 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.3989, + "euclidean_distance": 6.22756, + "closest_goal_object_id": 79, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.08983, + 2.91628, + -4.0014 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "d339130a5534437da266a71435143314", + "path": [ + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "refined_path": [ + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ] + ] + }, + { + "episode_id": "A75XDPFNICR3T:3DQQ64TANIO5H5B8344W0MVC7YXWP5", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.59196, + 2.91628, + 1.43233 + ], + "start_rotation": [ + 0, + 0.82467, + 0, + -0.56561 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.59854, + "euclidean_distance": 6.44562, + "closest_goal_object_id": 79, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.17073, + 2.91628, + -3.98584 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "d339130a5534437da266a71435143314", + "path": [ + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3M1CVSFP628TA49K2CNTI2OVLC0AQM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.99668, + 0.11628, + -1.86325 + ], + "start_rotation": [ + 0, + 0.97765, + 0, + -0.21024 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 4.27139, + "euclidean_distance": 3.77255, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.26752, + 0.11628, + -3.82788 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "0cd0dd452a324496afd701e1c4b2e973", + "path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "eb3364f96bed4877b27ce5e0cfa32702", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "refined_path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:354P56DE9M6N4IQZND0E3B161QT7SQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.67846, + 0.11628, + 5.9504 + ], + "start_rotation": [ + 0, + 0.5837, + 0, + -0.81197 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 9.81992, + "euclidean_distance": 7.70669, + "closest_goal_object_id": 370, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.37999, + 0.11628, + -1.48223 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "947f02de64db4ccbbe220a9f9124a815", + "path": [ + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_1" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1" + ], + "refined_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + [ + "947f02de64db4ccbbe220a9f9124a815" + ], + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_147_newN_1" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:33NF62TLXL5I0UETJDG9FFF5CT1JKI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.47278, + 0.11628, + -1.7028 + ], + "start_rotation": [ + 0, + 0.85236, + 0, + -0.52295 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.19013, + "euclidean_distance": 3.01768, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.31609, + 0.11628, + -4.10678 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "4545f7a0d918401ebccdb6716a5f1fce", + "path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3B837J3LDQZXM1AEWRYK8SS623RSRG", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.41364, + 0.11628, + -3.78427 + ], + "start_rotation": [ + 0, + 0.98267, + 0, + 0.18536 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.33655, + "euclidean_distance": 8.57079, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.68886, + 0.11628, + 3.73328 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_66_newN_0", + "path": [ + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:345LHZDEDZVLICHGA6SO5V7EHMBU39", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.635, + 0.11628, + -5.21292 + ], + "start_rotation": [ + 0, + 0.71612, + 0, + -0.69798 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.24539, + "euclidean_distance": 5.35065, + "closest_goal_object_id": 267, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.92802, + 0.11628, + -0.938 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "dbcf0a37c275473094e1160770291679", + "path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3STRJBFXOYUCEXAYV7UDHL2EAVUTKZ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.60271, + 0.11628, + -5.66287 + ], + "start_rotation": [ + 0, + 0.5926, + 0, + 0.8055 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.891, + "euclidean_distance": 8.8712, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.17437, + 0.11628, + -3.75585 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "0_edge_147_newN_0", + "path": [ + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "refined_path": [ + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "A2FRVUNDQQY7S9:37QW5D2ZRIPR4WVIXISKHBX1CBXS8Y", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.55841, + 0.11628, + -2.06464 + ], + "start_rotation": [ + 0, + 0.17438, + 0, + -0.98468 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 9.78713, + "euclidean_distance": 9.16345, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.7415, + 0.11628, + -2.73448 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "eb3364f96bed4877b27ce5e0cfa32702", + "path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3OVR4I9USRME8FT3TBD25Z2VS1YQ4I", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.34797, + 0.11628, + -5.54717 + ], + "start_rotation": [ + 0, + 0.81759, + 0, + -0.57579 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.78809, + "euclidean_distance": 4.47899, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.54675, + 0.11628, + -1.56254 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "dbcf0a37c275473094e1160770291679", + "path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "0_edge_82_newN_0", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + [ + "e5e6c99e38014827b50ad33cd22e3c9d" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:32Q90QCQ1UOAPES15C5IIZ2D6K7EKR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.76078, + 2.91628, + 1.99363 + ], + "start_rotation": [ + 0, + 0.82483, + 0, + 0.56537 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.10158, + "euclidean_distance": 6.92968, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.92269, + 2.91628, + -1.09899 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "4bb7642a8af44f97acb81190589a3451", + "path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "refined_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:33L7PJKHCI1SJW8XMIXARGTNEU38TV", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.49345, + 2.91628, + 2.0166 + ], + "start_rotation": [ + 0, + 0.54677, + 0, + -0.83728 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.36956, + "euclidean_distance": 7.64691, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.39695, + 2.91628, + -1.1024 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "d339130a5534437da266a71435143314", + "path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:34X6J5FLPV14BXCOWI06B1REAYVJQ9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.74794, + 2.91628, + 1.06429 + ], + "start_rotation": [ + 0, + 0.99963, + 0, + 0.0271 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.92301, + "euclidean_distance": 5.65645, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.071, + 2.91628, + -0.94361 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "34a370fe2d1840e196a491db1e995e16", + "path": [ + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "refined_path": [ + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "4bb7642a8af44f97acb81190589a3451" + ], + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + [ + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa" + ], + "080a334ceb144054b12c4ed7847b8f71", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ] + }, + { + "episode_id": "A2FRVUNDQQY7S9:3C8HJ7UOP9X3QXJ0MBWBIMVZJVQZM2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.34824, + 2.91628, + 5.39011 + ], + "start_rotation": [ + 0, + 0.99999, + 0, + 0.0047 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 3.24974, + "euclidean_distance": 3.04373, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.4186, + 2.91628, + 3.11373 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "5635036d3bfb483eac283af7bb5ac986", + "path": [ + "5635036d3bfb483eac283af7bb5ac986", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_33_newN_1" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "5635036d3bfb483eac283af7bb5ac986", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "refined_path": [ + "5635036d3bfb483eac283af7bb5ac986", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986" + ], + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + [ + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ] + ] + }, + { + "episode_id": "A272X64FOZFYLB:39N5ACM9HGQU59Y0ATU4M2N1AYK9P3", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.81948, + 2.91628, + -1.21288 + ], + "start_rotation": [ + 0, + 0.89815, + 0, + -0.43969 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.40199, + "euclidean_distance": 7.67694, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.53092, + 2.91628, + -4.79513 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "7cae5e5f8adf444d829c95b4a4412ffd", + "path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_7_newN_1" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1" + ], + "refined_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:32Z9ZLUT1NN5ZF4IT55HAJGZI51OHT", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.03256, + 2.91628, + 2.48856 + ], + "start_rotation": [ + 0, + 0.43309, + 0, + -0.90135 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.46429, + "euclidean_distance": 6.91749, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.93975, + 2.91628, + -1.09658 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0cb5fac1789e42d5a99cc87f4ef8cb35", + "path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A2A7O6KYJ9GS8A:37U1UTWH9XPF3HV5ITSFR1S5RATR8R", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.0494, + 3.11628, + -3.28801 + ], + "start_rotation": [ + 0, + 0.18618, + 0, + -0.98252 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.66372, + "euclidean_distance": 6.74103, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.45722, + 2.91628, + -4.83489 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3SITXWYCNXCI2BFOU4IH7L4UZWXXBN", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.4805, + 0.11628, + -0.17684 + ], + "start_rotation": [ + 0, + 0.99913, + 0, + 0.0416 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 1.85108, + "euclidean_distance": 1.7091, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.88552, + 0.11628, + -1.18432 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "8b219cad487e4091b7c29146f0224729", + "path": [ + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ], + "refined_path": [ + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3D3VGR7TA2IT2KPZ6CXJ0KKUANA3RH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.71309, + 2.91628, + 0.58228 + ], + "start_rotation": [ + 0, + 0.9945, + 0, + 0.10477 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.10776, + "euclidean_distance": 7.47801, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.93453, + 2.91628, + -1.05589 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "080a334ceb144054b12c4ed7847b8f71", + "path": [ + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3AAPLD8UCEKLC79QPMRG4TMMIEOTHT", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.19239, + 2.91628, + -0.90304 + ], + "start_rotation": [ + 0, + 0.05645, + 0, + 0.99841 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.06535, + "euclidean_distance": 9.27476, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.65273, + 2.91628, + -4.80702 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "8f25ebb1c23d4fddb035eb336426d5fa", + "path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "743e6d37beae4b6482a43ae41e634e67", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1" + ], + "refined_path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "743e6d37beae4b6482a43ae41e634e67", + [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3PS7W85Z815SX1R7RA3ORCOYY08T9S", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.64118, + 0.11628, + -4.81394 + ], + "start_rotation": [ + 0, + 0.99991, + 0, + 0.0135 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 23.68975, + "euclidean_distance": 13.7009, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.3055, + 2.91628, + 1.95997 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "b3c99ac15d9546cd9d58a45647f63934", + "path": [ + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A3F7G1FSFWQPLE:3PMBY0YE296BBKPW5O8Y22OUAEW9CD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.60973, + 3.11628, + -3.51932 + ], + "start_rotation": [ + 0, + 0.77042, + 0, + -0.63753 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 8.97427, + "euclidean_distance": 4.41698, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.99177, + 2.91628, + -4.2236 + ] + }, + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3DPNQGW4LNILYXAJE2Z4ZUL4JCA644", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.03797, + 2.91628, + 3.7222 + ], + "start_rotation": [ + 0, + 0.38784, + 0, + 0.92173 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.66052, + "euclidean_distance": 7.60322, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.98635, + 2.91628, + -1.02387 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0cb5fac1789e42d5a99cc87f4ef8cb35", + "path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + [ + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + [ + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3X66WABAJYL2DUGLQ1371G6MJOBG33", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.51538, + 3.11628, + -3.32848 + ], + "start_rotation": [ + 0, + 0.98803, + 0, + 0.15429 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.93861, + "euclidean_distance": 5.10454, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.92155, + 2.91628, + -1.07346 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "34a370fe2d1840e196a491db1e995e16", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A2J6S7QR4CGXTW:32RIADZISU7QLV8GLF270ZHW44HS4V", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.1694, + 2.91628, + 1.53006 + ], + "start_rotation": [ + 0, + 0.84854, + 0, + 0.52914 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.65504, + "euclidean_distance": 3.63546, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.97405, + 0.11628, + 2.62173 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "8f5a767771964a56b3708d5415c446b2" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ], + "refined_path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3B1NLC6UG1Z9KJL8OZ0EEJ9NQ9QPGR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.02278, + 2.91628, + -1.87844 + ], + "start_rotation": [ + 0, + 0.18742, + 0, + 0.98228 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.38005, + "euclidean_distance": 8.27808, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.04309, + 2.91628, + -4.09519 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "2dea9de9cf5742398b17c3d6208bb56a", + "path": [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "refined_path": [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1" + ], + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:33OOO72IVJOUVZYA3UDFT2P6YVYCTT", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.9091, + 2.91628, + -0.70535 + ], + "start_rotation": [ + 0, + 0.90014, + 0, + 0.43561 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.64373, + "euclidean_distance": 5.06324, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.33508, + 2.91628, + 1.8808 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "0_edge_110_newN_0", + "path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0" + ], + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:37UEWGM5HVBXSHBKJ8J0CR5WPWT1RH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.26049, + 0.11628, + 5.54193 + ], + "start_rotation": [ + 0, + 0.60729, + 0, + 0.79448 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.68268, + "euclidean_distance": 3.09883, + "closest_goal_object_id": 428, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.04464, + 0.11628, + 3.42413 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "e5f8d864ab7545d3bae0e56a527041ec", + "path": [ + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3PPTZCWALSNUBCHSE43SZVF47XCQZL", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.42839, + 0.11628, + 2.05219 + ], + "start_rotation": [ + 0, + 0.92198, + 0, + -0.38723 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.42848, + "euclidean_distance": 2.26465, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.18867, + 0.11628, + 2.24055 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "0_edge_182_newN_0", + "path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3U088ZLJVMW2TO7OMJP6LLU3CPQ0WG", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.15965, + 2.91628, + 1.46815 + ], + "start_rotation": [ + 0, + 0.97308, + 0, + 0.23048 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.7952, + "euclidean_distance": 6.40778, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.48206, + 2.91628, + -4.71987 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "0_edge_134_newN_0", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_110_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1" + ], + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A5A14MTB35J23:352YTHGROXG1VMU0ALQ8WLAUVS74HR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.39402, + 2.91628, + -1.16833 + ], + "start_rotation": [ + 0, + 0.01315, + 0, + -0.99991 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 4.74094, + "euclidean_distance": 3.97445, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.0346, + 2.91628, + -4.16397 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "0_edge_110_newN_0", + "path": [ + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "refined_path": [ + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3H8DHMCCWBE5X8E19HUYCHKRHI7KDY", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.38373, + 2.91628, + -1.50339 + ], + "start_rotation": [ + 0, + 0.54244, + 0, + 0.84009 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 13.82947, + "euclidean_distance": 11.9439, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.97219, + 2.91628, + 1.79683 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "0_edge_122_newN_0", + "path": [ + "0_edge_122_newN_0", + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_122_newN_0", + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_122_newN_0", + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:3CN4LGXD5ZRNHHKPKLUWIL5W4VRY4M", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.15983, + 1.08978, + 1.65978 + ], + "start_rotation": [ + 0, + 0.90189, + 0, + 0.43197 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.53801, + "euclidean_distance": 2.28089, + "closest_goal_object_id": 398, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.22082, + 0.11628, + 3.45224 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "673ae67937804c42b3c22e93efb5d069", + "path": [ + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A74PT3GRDMEZ:3DOCMVPBTPHFRQQHVO0H0EDQ8MVNN0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.23107, + 0.11628, + 5.3501 + ], + "start_rotation": [ + 0, + 0.24339, + 0, + -0.96993 + ], + "object_category": "table", + "info": { + "geodesic_distance": 7.14969, + "euclidean_distance": 4.07314, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.10439, + 0.11628, + 2.20165 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "2ea5348654d24115bba3dcdb21fa655e", + "path": [ + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "refined_path": [ + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ] + }, + { + "episode_id": "A19BDVIRTDE5RQ:3IJXV6UZ1ZM8SN7IRF464QMI4R3RII", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.81586, + 2.91628, + -0.14298 + ], + "start_rotation": [ + 0, + 0.26928, + 0, + 0.96306 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 9.83715, + "euclidean_distance": 6.72927, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.03745, + 0.11628, + 3.16604 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "34a370fe2d1840e196a491db1e995e16", + "path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:3FPRZHYEP0ALVR6GFW2T1H9X9ULV3G", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.57203, + 0.11628, + -2.09495 + ], + "start_rotation": [ + 0, + 0.58166, + 0, + -0.81343 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.88822, + "euclidean_distance": 9.10422, + "closest_goal_object_id": 402, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.22903, + 0.11628, + 6.86186 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "4545f7a0d918401ebccdb6716a5f1fce", + "path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "refined_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3DI28L7YXCH8JD6FX2Z0DK6EBKHE1O", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.56534, + 3.11628, + -3.74972 + ], + "start_rotation": [ + 0, + 0.56643, + 0, + 0.82411 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 14.61471, + "euclidean_distance": 11.9337, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.70399, + 0.11628, + 7.10534 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_9_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_30_newN_1", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + [ + "d97dee547dac432094720d127b49b347" + ], + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "AK35CJJEYFVYK:3VBEN272MM26XB10GG489OEZEVCSGW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.24861, + 2.91628, + 5.30218 + ], + "start_rotation": [ + 0, + 0.73019, + 0, + 0.68325 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 13.31097, + "euclidean_distance": 4.88727, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.12325, + 0.11628, + 2.94891 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "5635036d3bfb483eac283af7bb5ac986", + "path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "refined_path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986" + ], + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ] + }, + { + "episode_id": "A2GQH4SWIOFH2L:3SB4CE2TJXYDJ1AWOQILCAKOBSBXAD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.66217, + 0.11628, + 0.20566 + ], + "start_rotation": [ + 0, + 0.0621, + 0, + 0.99807 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.74474, + "euclidean_distance": 4.40186, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.06846, + 0.11628, + -4.0676 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "6a10ae81330345f794a55f2d96a86ea6", + "path": [ + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3KGTPGBS6ZOWXULX66EJML2LO1AU2U", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.69515, + 2.91628, + 4.26046 + ], + "start_rotation": [ + 0, + 0.02053, + 0, + 0.99979 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 3.55973, + "euclidean_distance": 2.78588, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.91318, + 2.91628, + 1.76398 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "d97dee547dac432094720d127b49b347", + "path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3PS7W85Z815SX1R7RA3ORCOYC1CT9C", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.82963, + 0.11628, + 5.28694 + ], + "start_rotation": [ + 0, + 0.54416, + 0, + 0.83898 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.74595, + "euclidean_distance": 3.38082, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.14317, + 0.11628, + 2.12252 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "947f02de64db4ccbbe220a9f9124a815", + "path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "refined_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3DHE4R9OCYEDSCK2M1P2I61UDGFG28", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.6434, + 2.91628, + -0.44851 + ], + "start_rotation": [ + 0, + 0.85391, + 0, + 0.52042 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 9.51269, + "euclidean_distance": 8.229, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.07992, + 2.91628, + -4.06725 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "8f25ebb1c23d4fddb035eb336426d5fa", + "path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "refined_path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3B2X28YI3YI5JWVSTH9R78R9D9Y6B9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.2517, + 0.11628, + -1.62417 + ], + "start_rotation": [ + 0, + 0.53162, + 0, + -0.84698 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 6.46205, + "euclidean_distance": 5.44434, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.20935, + 0.11628, + -3.79913 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "eb3364f96bed4877b27ce5e0cfa32702", + "path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_124_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "fea7a9db41944d76b258036b046d13aa", + "8b219cad487e4091b7c29146f0224729", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "refined_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "0_edge_124_newN_0", + [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ], + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + [ + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "8b219cad487e4091b7c29146f0224729", + [ + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa" + ], + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3QAVNHZ3EO7IJ7T7A7FX1GP0LAOLAZ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.05148, + 2.91628, + 5.49542 + ], + "start_rotation": [ + 0, + 0.96926, + 0, + -0.24606 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.84015, + "euclidean_distance": 4.33434, + "closest_goal_object_id": 41, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.27075, + 3.11628, + 1.19807 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "81df67c58e324caca152f29eb64f6993", + "path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "refined_path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + [ + "81df67c58e324caca152f29eb64f6993" + ], + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b" + ], + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:37M28K1J0SGCOH577M3KL1C9XWDAJK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.96209, + 3.11628, + -3.93867 + ], + "start_rotation": [ + 0, + 0.66567, + 0, + 0.74624 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 8.90433, + "euclidean_distance": 7.43102, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.52284, + 2.91628, + -0.68463 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3PJ71Z61R65ROHFYPRJEL652JAL910", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.49179, + 2.91628, + -0.90132 + ], + "start_rotation": [ + 0, + 0.97753, + 0, + -0.2108 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.6285, + "euclidean_distance": 9.75156, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.78943, + 2.91628, + 1.83434 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "2dea9de9cf5742398b17c3d6208bb56a", + "path": [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:39GHHAVOMHUXMSPQYLTT8YQ95UBJ4S", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.08461, + 2.91628, + -4.19364 + ], + "start_rotation": [ + 0, + 0.98787, + 0, + -0.15529 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 12.64989, + "euclidean_distance": 11.69357, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.55018, + 0.11628, + 7.02538 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_7_newN_1", + "path": [ + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "5635036d3bfb483eac283af7bb5ac986", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1" + ], + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "eba5ca774e2a41dfa6e22fbff7fe66d2", + [ + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + [ + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + [ + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3EG49X351WFCWZYTYD19W5I1W576XP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.60441, + 0.11628, + -4.16211 + ], + "start_rotation": [ + 0, + 0.79003, + 0, + 0.61307 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 12.17424, + "euclidean_distance": 9.53438, + "closest_goal_object_id": 197, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 1.24737, + 0.11628, + 5.32083 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "b3c99ac15d9546cd9d58a45647f63934", + "path": [ + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ], + "refined_path": [ + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:38SKSKU7R30XPPC5MV7AIEDJ0B6LI4", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.62491, + 0.11628, + 2.27652 + ], + "start_rotation": [ + 0, + 0.62176, + 0, + 0.78321 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 11.45688, + "euclidean_distance": 8.13033, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.70718, + 2.91628, + -0.71559 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "cdafd704291841daaa57ce008a95a06a", + "path": [ + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "0_edge_207_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a" + ], + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:3PQ8K71NHZN1NO23DGQ7S29Q6T9AAX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.22936, + 3.11628, + -4.59009 + ], + "start_rotation": [ + 0, + 0.71289, + 0, + 0.70127 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.99305, + "euclidean_distance": 4.57559, + "closest_goal_object_id": 129, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -2.5408, + 2.91628, + -0.07076 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3JBT3HLQFA59B0GDERO3ZQPUFBVZP5", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.24211, + 2.91628, + 6.33125 + ], + "start_rotation": [ + 0, + 0.13161, + 0, + 0.9913 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.14442, + "euclidean_distance": 4.48399, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.39149, + 2.91628, + 1.90349 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "eba5ca774e2a41dfa6e22fbff7fe66d2", + "path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + [ + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3DEL4X4EL8OEFJ8Z4WW1FW2VBNBXYP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.47829, + 2.91628, + 3.56651 + ], + "start_rotation": [ + 0, + 0.93681, + 0, + -0.34984 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.34966, + "euclidean_distance": 8.3382, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.62249, + 2.91628, + -4.82316 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "0_edge_33_newN_1", + "path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3Z7EFSHGNBH1CG7U84ECI5ABU61CX2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.23895, + 2.91628, + 2.26775 + ], + "start_rotation": [ + 0, + 0.35355, + 0, + -0.93542 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.7741, + "euclidean_distance": 4.40477, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.16434, + 1.21201, + 1.46521 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "d339130a5534437da266a71435143314", + "path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3RANCT1ZVHKQL7LTPZ7UNE5QWUSUBR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.00064, + 2.91628, + 4.68099 + ], + "start_rotation": [ + 0, + 0.02104, + 0, + -0.99978 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 6.54677, + "euclidean_distance": 5.42709, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.70713, + 2.91628, + -0.71953 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "d97dee547dac432094720d127b49b347", + "path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:34J10VATJH18GMSIE0F6Z0CERXOQI8", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.2211, + 2.91628, + 4.96453 + ], + "start_rotation": [ + 0, + 0.68044, + 0, + -0.73281 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 4.00491, + "euclidean_distance": 3.16045, + "closest_goal_object_id": 37, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.34909, + 2.91628, + 1.85942 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "0_edge_30_newN_1", + "path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3TMSXRD2X8320DS6I2T6ZQDEYTU1WP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.58004, + 0.11628, + 3.14561 + ], + "start_rotation": [ + 0, + 0.58601, + 0, + -0.8103 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.38461, + "euclidean_distance": 12.09886, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.28228, + 2.91628, + 1.88425 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "bfd18e7fa8894c26a00f0cad55b31f76", + "path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_146_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_210_newN_0", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + [ + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a" + ], + "0_edge_146_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0" + ], + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:32VNZTT0A97EKG836Q22APC0FXQR4L", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.30343, + 0.11628, + -0.15744 + ], + "start_rotation": [ + 0, + 0.89349, + 0, + 0.44908 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.46885, + "euclidean_distance": 9.94611, + "closest_goal_object_id": 319, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.52737, + 0.11628, + -4.79841 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "ed7387d968874f4bbe512395b64405af", + "path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ], + "refined_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + [ + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3WETL7AQWVB4XXR195KGXJFXV3N35C", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.08825, + 0.11628, + -3.03609 + ], + "start_rotation": [ + 0, + 0.52475, + 0, + -0.85125 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 3.8275, + "euclidean_distance": 2.28994, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.29198, + 0.11628, + -3.74679 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "0_edge_80_newN_0", + "path": [ + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "refined_path": [ + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3LYA37P8ISQCIBGHVL3SHRWSX3XBKH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.21806, + 2.91628, + -0.74217 + ], + "start_rotation": [ + 0, + 0.05765, + 0, + -0.99834 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 10.82996, + "euclidean_distance": 8.44644, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.73136, + 0.11628, + 6.9569 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "dcced7b92f444b9a83bd7d54413fa486", + "path": [ + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_9_newN_0", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:33F859I568GLGLF9P00V4ZG02NDBHW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.00328, + 0.11628, + 2.07666 + ], + "start_rotation": [ + 0, + 0.98543, + 0, + 0.17009 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 13.91379, + "euclidean_distance": 11.97068, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.16757, + 0.11628, + -4.13614 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "bfd18e7fa8894c26a00f0cad55b31f76", + "path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3DI28L7YXCH8JD6FX2Z0DK6EOU51EW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.13196, + 0.11628, + 2.78355 + ], + "start_rotation": [ + 0, + 0.99982, + 0, + 0.01871 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 9.86172, + "euclidean_distance": 4.50064, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.59438, + 2.91628, + -0.65628 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_102_newN_0", + "path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:37M28K1J0SGCOH577M3KL1C90R6JAF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.81975, + 0.11628, + -1.28067 + ], + "start_rotation": [ + 0, + 0.84763, + 0, + -0.53058 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.17635, + "euclidean_distance": 5.67228, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.68116, + 0.11628, + 2.60096 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "4545f7a0d918401ebccdb6716a5f1fce", + "path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:37FMASSAYEULCGQTVIIG4BHFPLCBI2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.97066, + 0.11628, + -0.39816 + ], + "start_rotation": [ + 0, + 0.94975, + 0, + -0.313 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.87524, + "euclidean_distance": 3.36158, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.24587, + 0.11628, + -1.24547 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "ed7387d968874f4bbe512395b64405af", + "path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "refined_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ] + }, + { + "episode_id": "A13WYZ8AXD6ODX:3O6CYIULEF4I9AJ4KQ3QASIB9QYWUQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.7536, + 0.11628, + 2.63413 + ], + "start_rotation": [ + 0, + 0.99017, + 0, + -0.13988 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 15.39568, + "euclidean_distance": 11.20295, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.19081, + 2.91628, + -0.45092 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "bfd18e7fa8894c26a00f0cad55b31f76", + "path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3CPLWGV3MQ2U2OMNUEHCIDI63XYN9L", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.44727, + 2.91628, + 1.96994 + ], + "start_rotation": [ + 0, + 0.89726, + 0, + 0.4415 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.6979, + "euclidean_distance": 3.89469, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.88373, + 0.11628, + 3.11535 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_157_newN_2" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + [ + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3TXWC2NHN1TRI1ES2AYYH7SCNY49SI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.95586, + 0.11628, + -5.23897 + ], + "start_rotation": [ + 0, + 0.11172, + 0, + 0.99374 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.22961, + "euclidean_distance": 10.45799, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 0.62025, + 0.11628, + 0.48594 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_1", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_124_newN_0" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ], + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_147_newN_1", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5" + ], + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "0_edge_124_newN_0" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3YHH42UU5DIMIUVPI5I4CADOS5B0L2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.24076, + 2.91628, + -4.84925 + ], + "start_rotation": [ + 0, + 0.297, + 0, + 0.95488 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.55066, + "euclidean_distance": 8.19686, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.04344, + 0.11628, + 2.58276 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "12bce16a8b8e424bba0742b82a46352b", + "path": [ + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3LWJHTCVCEPO6VQSDS9LW3ZM883FQG", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.42676, + 0.11628, + 1.59371 + ], + "start_rotation": [ + 0, + 0.90291, + 0, + 0.42983 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 9.68096, + "euclidean_distance": 8.90045, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.09013, + 0.11628, + -4.14982 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "dfa246b0d1fe4f08953b20151cf951c3", + "path": [ + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "b3c99ac15d9546cd9d58a45647f63934", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a" + ], + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:33NF62TLXL5I0UETJDG9FFF5226JKV", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.37609, + 3.11628, + -2.85234 + ], + "start_rotation": [ + 0, + 0.47412, + 0, + -0.88046 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 10.71367, + "euclidean_distance": 9.19932, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.26103, + 2.91628, + 1.99538 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3PXX5PX6LZ166Y7VJUQ3NDTWPTJABI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.95952, + 0.11628, + -0.78522 + ], + "start_rotation": [ + 0, + 0.71401, + 0, + 0.70014 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.89313, + "euclidean_distance": 4.55227, + "closest_goal_object_id": 422, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.43127, + 0.11628, + -0.42375 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "0_edge_26_newN_1", + "path": [ + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3VW04L3ZLV9PFEIPZ0AZWIVM9OHXXX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.60091, + 0.11628, + -2.33312 + ], + "start_rotation": [ + 0, + 0.76685, + 0, + 0.64183 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 10.35909, + "euclidean_distance": 9.45348, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.5728, + 0.11628, + 7.04977 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "4545f7a0d918401ebccdb6716a5f1fce", + "path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "AXYF8V8B0SPPR:3TXD01ZLD6K6080KAKX7F0ZKM9ZU4N", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.66211, + 0.11628, + -3.16719 + ], + "start_rotation": [ + 0, + 0.6126, + 0, + -0.79039 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.84912, + "euclidean_distance": 7.36366, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.48111, + 0.11628, + -2.47342 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "674b3b6705604a4c8b89182edee11e54", + "path": [ + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "0_edge_210_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ], + "refined_path": [ + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3T3IWE1XG8QYP08T8CEAD7EMLM9QTR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.46108, + 0.11628, + -0.02595 + ], + "start_rotation": [ + 0, + 0.65462, + 0, + -0.75595 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.93015, + "euclidean_distance": 2.67758, + "closest_goal_object_id": 365, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.27354, + 0.11628, + -2.46886 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "8b219cad487e4091b7c29146f0224729", + "path": [ + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a" + ], + "refined_path": [ + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a" + ] + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3JCG6DTRV5TLXKG1R8KF8230F47QQ4", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.57297, + 0.11628, + 5.34147 + ], + "start_rotation": [ + 0, + 0.88949, + 0, + -0.45695 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 18.61906, + "euclidean_distance": 14.25011, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.23503, + 2.91628, + -0.34466 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "5a89e430e6fb471189468fb44bbea75c", + "path": [ + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "0_edge_207_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c" + ], + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A2CWA5VQZ6IWMQ:3HHRAGRYXA8CK9MZVTHPX2IAA3NO9S", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.75247, + 3.11628, + -4.56801 + ], + "start_rotation": [ + 0, + 0.99044, + 0, + 0.13793 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.10846, + "euclidean_distance": 7.2458, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.14624, + 2.91628, + -0.98862 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:354P56DE9M6N4IQZND0E3B16SE3S7O", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.63997, + 2.91628, + 1.97811 + ], + "start_rotation": [ + 0, + 0.36672, + 0, + -0.93033 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 11.96149, + "euclidean_distance": 6.14891, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.85622, + 0.11628, + 3.16216 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "4bb7642a8af44f97acb81190589a3451", + "path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_157_newN_2" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + [ + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3ZPBJO59KR4EVIDT3WR1ZP4081HDHM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.76967, + 0.11628, + -1.75339 + ], + "start_rotation": [ + 0, + 0.86551, + 0, + 0.5009 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.83623, + "euclidean_distance": 2.68782, + "closest_goal_object_id": 365, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.26421, + 0.11628, + -2.51079 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "0cd0dd452a324496afd701e1c4b2e973", + "path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_73_newN_0" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0" + ], + "refined_path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + [ + "0_edge_146_newN_0" + ], + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:33NF62TLXL5I0UETJDG9FFF5589JKD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.74418, + 0.11628, + 0.48325 + ], + "start_rotation": [ + 0, + 0.00437, + 0, + -0.99999 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 17.08677, + "euclidean_distance": 14.00829, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.68681, + 0.11628, + 7.07508 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_126_newN_1", + "path": [ + "0_edge_126_newN_1", + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "84928b00abef4a8489bcaa2ce410d1e5", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_126_newN_1", + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_126_newN_1", + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ], + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3NS0A6KXC6B3YNNEB8YG5HB108EGZK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.01943, + 2.91628, + 5.51644 + ], + "start_rotation": [ + 0, + 0.76594, + 0, + -0.64291 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 11.2123, + "euclidean_distance": 10.10116, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.21793, + 2.91628, + -4.25515 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "81df67c58e324caca152f29eb64f6993", + "path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_33_newN_1", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "refined_path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + [ + "81df67c58e324caca152f29eb64f6993" + ], + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "0_edge_33_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3PH3VY7DJN0ZV9DEQD2YRKXQ7XMWZY", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.25494, + 0.11628, + -2.37563 + ], + "start_rotation": [ + 0, + 0.78197, + 0, + 0.62331 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.42929, + "euclidean_distance": 6.27756, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.26222, + 0.11628, + 3.09467 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_80_newN_0", + "path": [ + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "61cac35d27254f8b8edba9601c4f8b5f", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54" + ], + "61cac35d27254f8b8edba9601c4f8b5f", + [ + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + [ + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "A3TYCJO2DG3RMH:3TYCR1GOTEMJKF1FMZVWI9GAA7HZL6", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.67339, + 3.11628, + -2.82016 + ], + "start_rotation": [ + 0, + 0.31883, + 0, + 0.94781 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 8.69039, + "euclidean_distance": 6.44818, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.99239, + 2.91628, + -4.21028 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3LOTDFNYA92TQSMEP18ROSH8JU9FW2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.59612, + 0.11628, + -2.65947 + ], + "start_rotation": [ + 0, + 0.43271, + 0, + 0.90153 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.19071, + "euclidean_distance": 5.85116, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.29756, + 0.11628, + 3.18458 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "370411a65c3d4dc8bd475805ad0f4195", + "path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0" + ], + "refined_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3NAPMVF0ZYIUZJ91TYL8CTO2UK372Z", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.51138, + 0.11628, + -4.20898 + ], + "start_rotation": [ + 0, + 0.74025, + 0, + -0.67233 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 11.62803, + "euclidean_distance": 7.76276, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.16686, + 0.11628, + 3.38487 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "3c496aedd9d645a5b8d7a7b1b53f0636", + "path": [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ], + "instruction": "Locate the fireplace.", + "instr_encoding": [ + 101, + 12453, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "refined_path": [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ] + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3E4GGUZ1TAUIUYGLCSAHGYTO0ZHK2M", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.90027, + 0.11628, + -2.08744 + ], + "start_rotation": [ + 0, + 0.53047, + 0, + 0.84771 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 3.96933, + "euclidean_distance": 2.21344, + "closest_goal_object_id": 422, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.42836, + 0.11628, + -0.45022 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "eb3364f96bed4877b27ce5e0cfa32702", + "path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3R8YZBNQ9JLBR2BMV9B98BM4W09Q7S", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.01554, + 0.11628, + -5.30452 + ], + "start_rotation": [ + 0, + 0.06388, + 0, + 0.99796 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 5.05867, + "euclidean_distance": 4.66556, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.31516, + 0.11628, + -1.84545 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "dbcf0a37c275473094e1160770291679", + "path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3HSYG7LRBL1DBEKB1YGLGUFI4MMKKO", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.48676, + 2.91628, + 3.33118 + ], + "start_rotation": [ + 0, + 0.74895, + 0, + 0.66263 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 16.92717, + "euclidean_distance": 10.11514, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.20606, + 0.11628, + 3.59763 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "0cb5fac1789e42d5a99cc87f4ef8cb35", + "path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Go to the fireplace.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3634BBTX0QXBPX290K4CN180HXWFIL", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.82934, + 0.11628, + 3.14462 + ], + "start_rotation": [ + 0, + 0.94729, + 0, + 0.32038 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 10.55126, + "euclidean_distance": 4.90557, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.61134, + 2.91628, + -0.84089 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "45af7750dab04ee9931d8c9a1ce9ee7d", + "path": [ + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3WR9XG3T65E42XOOXC4W58LZ04M47B", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.03156, + 2.91628, + 3.81526 + ], + "start_rotation": [ + 0, + 0.93816, + 0, + -0.34621 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 2.86584, + "euclidean_distance": 2.0568, + "closest_goal_object_id": 37, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.57074, + 2.91628, + 1.87467 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "0_edge_91_newN_1", + "path": [ + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1" + ], + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3DR23U6WE7H9SXIOZLJAJQP9GJ6ET4", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.09465, + 2.91628, + -4.16315 + ], + "start_rotation": [ + 0, + 0.75528, + 0, + -0.6554 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.08398, + "euclidean_distance": 7.34054, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.96265, + 0.11628, + 2.56841 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "0_edge_169_newN_0", + "path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "8f25ebb1c23d4fddb035eb336426d5fa", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3WAKVUDHUYJ3JVI3CIVEICJUDZS7UZ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.25848, + 2.91628, + -6.59228 + ], + "start_rotation": [ + 0, + 0.12767, + 0, + 0.99182 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 9.90493, + "euclidean_distance": 8.35409, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.84058, + 2.91628, + 1.79036 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "0_edge_57_newN_1", + "path": [ + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_7_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_7_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:34Z02EIMIUGA173UREKVY1N5M8PT06", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.04759, + 2.91628, + -4.07077 + ], + "start_rotation": [ + 0, + 0.10931, + 0, + 0.99401 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 5.27878, + "euclidean_distance": 3.2819, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.41919, + 2.91628, + -1.06942 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "d804a36fe0fc40dfb8f03ca3758ce904", + "path": [ + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3MYYFCXHJ5ANVQZPQF8QBLYTDP7G48", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.0328, + 2.91628, + -5.28694 + ], + "start_rotation": [ + 0, + 0.64157, + 0, + -0.76706 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 6.29894, + "euclidean_distance": 4.41427, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.3218, + 2.91628, + -1.01133 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "0_edge_169_newN_1", + "path": [ + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3483FV8BEGMBVJVWAOGG6FO6ZXP62H", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.37306, + 0.11628, + -4.94377 + ], + "start_rotation": [ + 0, + 0.84589, + 0, + -0.53335 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.64018, + "euclidean_distance": 7.90352, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.20418, + 2.91628, + 1.92808 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "dbcf0a37c275473094e1160770291679", + "path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + [ + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + [ + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:317HQ483I9VNDPFQY8NPV6H9MJ6INC", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.05175, + 2.91628, + -7.21055 + ], + "start_rotation": [ + 0, + 0.57528, + 0, + 0.81796 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 7.52154, + "euclidean_distance": 6.88444, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.28393, + 2.91628, + -0.43242 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "e5bdf109ceb745f1bf4d66447afa02da", + "path": [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_169_newN_1", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3OVR4I9USRME8FT3TBD25Z2U3GXQ4K", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.86058, + 0.11628, + -3.56863 + ], + "start_rotation": [ + 0, + 0.42166, + 0, + -0.90676 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 7.3362, + "euclidean_distance": 5.90736, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.7468, + 0.11628, + -2.69417 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_80_newN_0", + "path": [ + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "1d8256878b534440b5ba54b31bfb210b" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + [ + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3907X2AHF28J5PD1PKFPCFFNU7P2P3", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.48283, + 2.91628, + 3.44078 + ], + "start_rotation": [ + 0, + 0.99515, + 0, + -0.09836 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 10.96916, + "euclidean_distance": 7.43277, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.57572, + 2.91628, + -0.82145 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "0bcfce0d81294b7e84a7eed52cb04a4e", + "path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3IX2EGZR7DM4NYRO9XP6GR1IHQ0JRY", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.15204, + 0.11628, + 1.89513 + ], + "start_rotation": [ + 0, + 0.98426, + 0, + -0.17672 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.55903, + "euclidean_distance": 11.8864, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.26213, + 2.91628, + -0.43952 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "bfd18e7fa8894c26a00f0cad55b31f76", + "path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3OHYZ19UGE8QPSW4NZVPTXTUIZ3AOL", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.32031, + 0.11628, + -4.37496 + ], + "start_rotation": [ + 0, + 0.94194, + 0, + -0.33579 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.16265, + "euclidean_distance": 6.2169, + "closest_goal_object_id": 319, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.59799, + 0.11628, + -4.73888 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "b3c99ac15d9546cd9d58a45647f63934", + "path": [ + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_146_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0", + "0_edge_80_newN_0", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_102_newN_0" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "refined_path": [ + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a" + ], + "0_edge_146_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "8b8c58d65b3049ef8a844f237096b06d", + [ + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0", + [ + "1d8256878b534440b5ba54b31bfb210b" + ], + "0_edge_80_newN_0", + [ + "1d8256878b534440b5ba54b31bfb210b" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33UKMF931BNBHG0LPG85ICP9551TTP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.87849, + 0.11628, + -3.28823 + ], + "start_rotation": [ + 0, + 0.47273, + 0, + -0.88121 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 9.55202, + "euclidean_distance": 8.84334, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.62435, + 0.11628, + -2.78414 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_146_newN_0", + "path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:37TD41K0AJCTGZLVEU8PJXTJFV5CS8", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.16005, + 0.11628, + -4.276 + ], + "start_rotation": [ + 0, + 0.56276, + 0, + -0.82662 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.48352, + "euclidean_distance": 2.65222, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.7374, + 0.11628, + -1.5956 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3TR2532VIRXB1FT4H9M85WAN1JR6J6", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.75543, + 0.11628, + -3.5413 + ], + "start_rotation": [ + 0, + 0.85286, + 0, + 0.52214 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.08214, + "euclidean_distance": 6.70971, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.33159, + 0.11628, + 3.20853 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "370411a65c3d4dc8bd475805ad0f4195", + "path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3FIJLY1B6W736JPDDFUWWY9C683PFG", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.5449, + 2.91628, + 2.76165 + ], + "start_rotation": [ + 0, + 0.98413, + 0, + 0.17745 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.50051, + "euclidean_distance": 0.93635, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.2818, + 2.91628, + 1.864 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_33_newN_1", + "path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "0_edge_9_newN_0", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + [ + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A3TYCJO2DG3RMH:3KGTPGBS6ZOWXULX66EJML2M5MW2UD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.6383, + 2.91628, + 3.60669 + ], + "start_rotation": [ + 0, + 0.71946, + 0, + 0.69453 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 11.94982, + "euclidean_distance": 8.30404, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.44922, + 2.91628, + -1.0604 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "0bcfce0d81294b7e84a7eed52cb04a4e", + "path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3JMSRU9HQKXO5PMD4GJPK8DUCI6VEC", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.31048, + 0.11628, + -5.28072 + ], + "start_rotation": [ + 0, + 0.57145, + 0, + 0.82064 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.37922, + "euclidean_distance": 2.06546, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.42565, + 0.11628, + -4.5096 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_146_newN_1" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_146_newN_1" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_146_newN_1" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3M23Y66PO4A40ICU43VMXX1AXR06SW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.01641, + 2.91628, + 3.79931 + ], + "start_rotation": [ + 0, + 0.59608, + 0, + -0.80293 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 10.36168, + "euclidean_distance": 5.63097, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.98869, + 2.91628, + -1.08044 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_77_newN_0", + "path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "refined_path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1" + ], + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1" + ], + "374e664207754a3b95a7d8010e122296", + [ + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3JZQSN0I3SDXT6WEAW492PVK5EAGFR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.19557, + 2.91628, + -1.79071 + ], + "start_rotation": [ + 0, + 0.63726, + 0, + 0.77065 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.95962, + "euclidean_distance": 3.69737, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.20532, + 1.19999, + 1.49355 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "0_edge_110_newN_0", + "path": [ + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "A2J5DN5UMU0A3Z:3ZAK8W07I6HP1KIJRJA53X975XKU08", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.56694, + 2.91628, + -1.52698 + ], + "start_rotation": [ + 0, + 0.96892, + 0, + 0.24736 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.67618, + "euclidean_distance": 6.41474, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.92928, + 0.11628, + 3.12684 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "53672af2c15047818f2ead24a2370930", + "path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3R6P78PK7ME7CBEF5G9YJTALWO5GTO", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.36954, + 1.12461, + 1.65065 + ], + "start_rotation": [ + 0, + 0.99994, + 0, + -0.01059 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.32036, + "euclidean_distance": 3.2552, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.20238, + 2.91628, + -0.34466 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "673ae67937804c42b3c22e93efb5d069", + "path": [ + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3RJSC4XJ12X8G5S4QI2XVLHR94050P", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.07667, + 0.11628, + -3.97421 + ], + "start_rotation": [ + 0, + 0.60416, + 0, + 0.79686 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.52276, + "euclidean_distance": 7.78063, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.30466, + 0.11628, + 3.09812 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ], + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + [ + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + [ + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + [ + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "A3TYCJO2DG3RMH:339ANSOTR75M5JUN1VV93E05SQSIK2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.59949, + 2.91628, + -6.2163 + ], + "start_rotation": [ + 0, + 0.99759, + 0, + 0.06942 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 6.60434, + "euclidean_distance": 5.50951, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.48413, + 2.91628, + -0.69062 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_57_newN_1", + "path": [ + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "refined_path": [ + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3BEFOD78W8WNN0VB1I6LOQIPVYD4MS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.0973, + 0.99999, + 1.78955 + ], + "start_rotation": [ + 0, + 0.46641, + 0, + -0.88457 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 6.92361, + "euclidean_distance": 6.51112, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.88797, + 2.91628, + -4.43861 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "673ae67937804c42b3c22e93efb5d069", + "path": [ + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "refined_path": [ + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + [ + "db59566f6465453d88a27b5bcb19b096" + ], + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3SBEHTYCWP6HPOJ45AW0CMFGQ3SIYK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.54717, + 2.91628, + 5.0894 + ], + "start_rotation": [ + 0, + 0.98166, + 0, + 0.19063 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.0524, + "euclidean_distance": 3.2478, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.23465, + 2.91628, + 1.88173 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_30_newN_1", + "path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + [ + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3IQ1VMJRYVNNI5SYLAC7W7Y5LYCA9W", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.68597, + 0.11628, + -1.31481 + ], + "start_rotation": [ + 0, + 0.5376, + 0, + 0.8432 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 9.89626, + "euclidean_distance": 8.4143, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.41774, + 0.11628, + -2.48511 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "0_edge_2_newN_0", + "path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_102_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0" + ], + "refined_path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "0_edge_102_newN_0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:333U7HK6IBIAMO8JRWUMB2KE2YCJDD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.66571, + 0.11628, + -1.02527 + ], + "start_rotation": [ + 0, + 0.94788, + 0, + -0.31863 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.69357, + "euclidean_distance": 3.1806, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.08426, + 0.11628, + -4.07908 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "0_edge_26_newN_1", + "path": [ + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + [ + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:30MVJZJNHOGYJYV2FGPKP61OBKLJ9Y", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.1527, + 3.11628, + -3.33937 + ], + "start_rotation": [ + 0, + 0.92811, + 0, + -0.3723 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 14.28403, + "euclidean_distance": 11.01176, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.26008, + 0.11628, + 3.46968 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Go to the fireplace.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3ZV9H2YQQFAYAG6L567PNJSBTEM3WW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.10164, + 0.11628, + -0.02095 + ], + "start_rotation": [ + 0, + 0.23665, + 0, + 0.9716 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.12562, + "euclidean_distance": 5.33646, + "closest_goal_object_id": 197, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 1.1835, + 0.11628, + 5.30808 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "181c56d99ddd42ba8d4be09dbb135381", + "path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ], + "refined_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3I0BTBYZAZO6IT2O1K7U6IFK4AOY0K", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.66466, + 0.11628, + 2.94949 + ], + "start_rotation": [ + 0, + 0.80735, + 0, + -0.59007 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.7723, + "euclidean_distance": 7.82954, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.28286, + 2.91628, + -0.37092 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "cdafd704291841daaa57ce008a95a06a", + "path": [ + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a" + ], + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + [ + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096" + ], + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3IFS6Q0HJKMKT27V644BU0RF6O3ISM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.32943, + 2.91628, + 1.49125 + ], + "start_rotation": [ + 0, + 0.43759, + 0, + -0.89918 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.81928, + "euclidean_distance": 6.39379, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.4752, + 2.91628, + -4.74204 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2FUNB3BUB3U07:3X73LLYYQ3HNHU46SQ54VUGUMAEHND", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.17618, + 0.11628, + -3.31503 + ], + "start_rotation": [ + 0, + 0.62775, + 0, + 0.77842 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 8.35063, + "euclidean_distance": 7.50108, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.32162, + 0.11628, + 3.52259 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "e5e6c99e38014827b50ad33cd22e3c9d", + "path": [ + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ], + "instruction": "Go to the fireplace.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ], + "refined_path": [ + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:339ANSOTR75M5JUN1VV93E05SNFKIL", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.34522, + 2.91628, + 1.16493 + ], + "start_rotation": [ + 0, + 0.99424, + 0, + -0.10719 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.72572, + "euclidean_distance": 4.21717, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.20096, + 1.21305, + 1.47169 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "4bb7642a8af44f97acb81190589a3451", + "path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "refined_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3M23Y66PO4A40ICU43VMXX1A0QJS62", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.32489, + 2.91628, + -5.71804 + ], + "start_rotation": [ + 0, + 0.97702, + 0, + -0.21314 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.02485, + "euclidean_distance": 1.87554, + "closest_goal_object_id": 87, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.63093, + 2.91628, + -4.78033 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "8388153c198e4e4fb75cd8d0fd96d8a2", + "path": [ + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3RRCEFRB7OFR49REATGCAA7VJQTB4C", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.51342, + 0.11628, + 2.70023 + ], + "start_rotation": [ + 0, + 0.84949, + 0, + -0.5276 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 1.66861, + "euclidean_distance": 1.27086, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.27281, + 0.41158, + 2.65384 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "dde66ea80aca47968d3ec9c6e6ef3c0a", + "path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "refined_path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3TS1AR6UQSHE0DLDHT0FWCIQNHB7FQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.80405, + 0.11628, + -2.80441 + ], + "start_rotation": [ + 0, + 0.99822, + 0, + -0.05963 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.72688, + "euclidean_distance": 9.207, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 0.6554, + 0.11628, + 0.47245 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "0_edge_80_newN_0", + "path": [ + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3K772S5NPAEJNORTZR2L57ML8DGHEH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.41997, + 2.91628, + 2.16678 + ], + "start_rotation": [ + 0, + 0.59224, + 0, + 0.80576 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.7913, + "euclidean_distance": 1.65583, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.73246, + 2.91628, + 3.09223 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "0_edge_185_newN_1", + "path": [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "refined_path": [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TXWC2NHN1TRI1ES2AYYH7SCQWU9S7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.84444, + 2.91628, + -4.47775 + ], + "start_rotation": [ + 0, + 0.59778, + 0, + -0.80166 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.48579, + "euclidean_distance": 7.60014, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.1001, + 0.11628, + 2.70487 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "0_edge_169_newN_0", + "path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "8f25ebb1c23d4fddb035eb336426d5fa", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3DBQWDE4Y81B11KBRO4V6XD30FL5NR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.27532, + 3.11628, + -3.41753 + ], + "start_rotation": [ + 0, + 0.34999, + 0, + 0.93675 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.87341, + "euclidean_distance": 5.35839, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.90273, + 2.91628, + -1.06908 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486" + ] + ] + }, + { + "episode_id": "A7XL1V3G7C2VV:3WMOAN2SRD0SZVZQXFM8AV72D43NVY", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.3978, + 3.11628, + -4.12064 + ], + "start_rotation": [ + 0, + 0.99961, + 0, + 0.02804 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.60602, + "euclidean_distance": 8.73959, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.78917, + 2.91628, + 1.8661 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A1WU3UZ1IJIMUI:3TY7ZAOG5HNBYOD7X563XA092JN0K7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.05872, + 0.11628, + -3.88716 + ], + "start_rotation": [ + 0, + 0.79232, + 0, + 0.61011 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.21753, + "euclidean_distance": 1.74928, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.42565, + 0.11628, + -4.53616 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_73_newN_0", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "723a213fbaa847f2a44feac9246fd7b1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0" + ], + "723a213fbaa847f2a44feac9246fd7b1" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3VA45EW49PQUV4J4RG2WIW0SRGR1OJ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.55606, + 0.11628, + -0.38792 + ], + "start_rotation": [ + 0, + 0.56091, + 0, + -0.82788 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 1.87425, + "euclidean_distance": 1.50335, + "closest_goal_object_id": 397, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.37513, + 0.11628, + 0.90761 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "0_edge_26_newN_1", + "path": [ + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ], + "refined_path": [ + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + [ + "0_edge_26_newN_1" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + [ + "1d8256878b534440b5ba54b31bfb210b" + ], + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ] + }, + { + "episode_id": "A39EZ7V9T25RZO:3OLQQLKKNUSFEUMJNR56HK2052XEJA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.80018, + 2.91628, + 0.90266 + ], + "start_rotation": [ + 0, + 0.76093, + 0, + 0.64884 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 14.02019, + "euclidean_distance": 8.31032, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.72995, + 0.11628, + 6.93851 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "34a370fe2d1840e196a491db1e995e16", + "path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "4bb7642a8af44f97acb81190589a3451", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16" + ], + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3DOCMVPBTPHFRQQHVO0H0EDQ5ORNNX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.05611, + 2.91628, + 0.89823 + ], + "start_rotation": [ + 0, + 0.09651, + 0, + 0.99533 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.22824, + "euclidean_distance": 5.88107, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.65665, + 2.91628, + -4.8017 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "625eb179629b45f280c01d3f6ec74b4f", + "path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "0_edge_185_newN_1", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "0_edge_185_newN_1", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3ZAK8W07I6HP1KIJRJA53X978LBU0E", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.48674, + 0.11628, + -2.73647 + ], + "start_rotation": [ + 0, + 0.96897, + 0, + 0.24718 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 9.8929, + "euclidean_distance": 7.15926, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.56748, + 0.11628, + -1.59342 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "f53ff13e8a954c67bda9a46f3e2e88b8", + "path": [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3PS7W85Z815SX1R7RA3ORCOXBTG9TD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.56573, + 0.11628, + 0.02916 + ], + "start_rotation": [ + 0, + 0.11733, + 0, + -0.99309 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.49183, + "euclidean_distance": 2.4671, + "closest_goal_object_id": 267, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.97743, + 0.11628, + -0.91473 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "6a10ae81330345f794a55f2d96a86ea6", + "path": [ + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:3VD82FOHKSREI7T27DRGZSJJJEYOC2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.57548, + 0.11628, + -2.00066 + ], + "start_rotation": [ + 0, + 0.86919, + 0, + -0.49449 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.89141, + "euclidean_distance": 7.77841, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 0.62502, + 0.11628, + 0.47257 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "0cd0dd452a324496afd701e1c4b2e973", + "path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3TPWUS5F8B4MNG24YZIQGMW4LDBCW7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.95125, + 2.93219, + 1.89639 + ], + "start_rotation": [ + 0, + 0.25585, + 0, + -0.96672 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 8.38154, + "euclidean_distance": 6.66734, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.16194, + 2.91628, + -4.17889 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "refined_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "A2R2YZTSME1K3F:3TXMY6UCAGRH3J6IMQJKOXEJBWICQB", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.37078, + 0.11628, + -6.7645 + ], + "start_rotation": [ + 0, + 0.73618, + 0, + 0.67679 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.04622, + "euclidean_distance": 6.94728, + "closest_goal_object_id": 422, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.50697, + 0.11628, + -0.42503 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "dd6ae3e4669546a4a7fd78186723d12f", + "path": [ + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3JZQSN0I3SDXT6WEAW492PVK5IWFGK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.86852, + 0.11628, + -0.41486 + ], + "start_rotation": [ + 0, + 0.78951, + 0, + 0.61373 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 14.24321, + "euclidean_distance": 12.58274, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.23123, + 0.11628, + -3.86674 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "ed7387d968874f4bbe512395b64405af", + "path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_146_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "refined_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_146_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ], + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3YDGXNSEO1X82BT77HW2J8HUBOW482", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.31076, + 3.11628, + -3.80911 + ], + "start_rotation": [ + 0, + 0.78704, + 0, + 0.61691 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.24315, + "euclidean_distance": 5.51879, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.08208, + 2.91628, + -0.94902 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "AYYSG3O9FNU15:3Q8GYXHFER5SAXNK2YVHQMJR14M5CA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.69574, + 0.11628, + -5.44336 + ], + "start_rotation": [ + 0, + 0.04324, + 0, + 0.99906 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.35041, + "euclidean_distance": 1.61153, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.32589, + 0.11628, + -4.39932 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702" + ] + }, + { + "episode_id": "A31BA1WLSWUSY1:3GA6AFUKOQRGDQBWA7LPMGIO1FN3HB", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.65287, + 2.91628, + -1.61268 + ], + "start_rotation": [ + 0, + 0.83996, + 0, + 0.54265 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.04407, + "euclidean_distance": 5.87252, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.11703, + 0.11628, + 2.97937 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "5f4fd3bd58144211a8617caa5570e40c", + "path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "5b821a3b87cd4ed3a7c4414199a0a740", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "dfa246b0d1fe4f08953b20151cf951c3" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "dfa246b0d1fe4f08953b20151cf951c3" + ], + "refined_path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "dfa246b0d1fe4f08953b20151cf951c3" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3D4CH1LGECWOSW517A4HST98JVCG95", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.24568, + 0.11628, + -2.68746 + ], + "start_rotation": [ + 0, + 0.96957, + 0, + 0.2448 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 12.65475, + "euclidean_distance": 11.13609, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.6604, + 0.11628, + 7.04623 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_146_newN_0", + "path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_157_newN_0", + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_157_newN_0", + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + [ + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_157_newN_0", + "a844e7823fe4425f96a265b8fc557cb7", + [ + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3HMVI3QICLV6PIN6X3BUKNYU90KY19", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.61233, + 0.11628, + 5.26994 + ], + "start_rotation": [ + 0, + 0.04804, + 0, + 0.99885 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.9695, + "euclidean_distance": 11.54573, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.27178, + 2.91628, + 1.90576 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "46631317e8684d3f98f0b9c7d3c51417", + "path": [ + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417" + ], + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "AEWGY34WUIA32:3ZSY5X72NZEIO9ILPAHBONI4EC8OR2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.09071, + 0.11628, + -5.24446 + ], + "start_rotation": [ + 0, + 0.58302, + 0, + -0.81246 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.25224, + "euclidean_distance": 1.84979, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.34146, + 0.11628, + -4.36321 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3A4NIXBJ782JL82W7A52A7K1IO2ML8", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.12895, + 0.11628, + -3.32648 + ], + "start_rotation": [ + 0, + 0.48777, + 0, + -0.87297 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.93261, + "euclidean_distance": 6.47105, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.41135, + 0.11628, + 3.22412 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "370411a65c3d4dc8bd475805ad0f4195", + "path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "refined_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3OUYGIZWR91C9FANAXBBTRM8X43P0U", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.02524, + 0.11628, + -3.32668 + ], + "start_rotation": [ + 0, + 0.87303, + 0, + 0.48766 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.4573, + "euclidean_distance": 8.70073, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.67623, + 0.11628, + -1.59509 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "0_edge_146_newN_1", + "path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3STRJBFXOYUCEXAYV7UDHL2E38BKTQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.29194, + 0.11628, + 4.92043 + ], + "start_rotation": [ + 0, + 0.33776, + 0, + -0.94123 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.10849, + "euclidean_distance": 2.74579, + "closest_goal_object_id": 428, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.04046, + 0.11628, + 3.32269 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "e5f8d864ab7545d3bae0e56a527041ec", + "path": [ + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3PMBY0YE296BBKPW5O8Y22OU4RWC90", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.36758, + 2.91628, + 1.08761 + ], + "start_rotation": [ + 0, + 0.99841, + 0, + 0.05637 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.028, + "euclidean_distance": 6.02112, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.02312, + 2.91628, + -1.0082 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "34a370fe2d1840e196a491db1e995e16", + "path": [ + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A3V8LIMUUJWUTL:3X4JMASXCOCA5L9DRSTAY7HI2IL0B1", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.24106, + 3.11628, + -4.81878 + ], + "start_rotation": [ + 0, + 0.91338, + 0, + -0.4071 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 9.937, + "euclidean_distance": 9.09061, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.25252, + 2.91628, + -0.46767 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "0_edge_146_newN_1", + "path": [ + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:31UV0MXWNSFJN09KU8R31PHNV1A5IJ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.27074, + 0.11628, + 1.76548 + ], + "start_rotation": [ + 0, + 0.25444, + 0, + -0.96709 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 9.86857, + "euclidean_distance": 9.13063, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.3036, + 0.11628, + -4.24652 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "0_edge_182_newN_0", + "path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_207_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "A5A14MTB35J23:3VA45EW49PQUV4J4RG2WIW0SVU6O1H", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.98083, + 2.91628, + -0.93147 + ], + "start_rotation": [ + 0, + 0.57092, + 0, + 0.82101 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 3.56983, + "euclidean_distance": 3.34638, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.18748, + 2.91628, + -4.08655 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "b8e48c0381644e26bee60d15b8afb47e", + "path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "refined_path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3FFJ6VRIL3RKSTNJX2LRKULWBQNI0Q", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.51779, + 0.11628, + -3.20789 + ], + "start_rotation": [ + 0, + 0.99629, + 0, + 0.08602 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 2.41861, + "euclidean_distance": 1.55389, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.67642, + 0.11628, + -1.65916 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3T3IWE1XG8QYP08T8CEAD7ENY0UTQM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.01044, + 0.11628, + 2.73304 + ], + "start_rotation": [ + 0, + 0.83582, + 0, + 0.549 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.90788, + "euclidean_distance": 3.73682, + "closest_goal_object_id": 427, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.70154, + 0.11628, + 1.98842 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "cdafd704291841daaa57ce008a95a06a", + "path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ], + "refined_path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3EQHHY4HQUV5R93P4KR0GD47GP55GG", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.6014, + 0.11628, + -4.543 + ], + "start_rotation": [ + 0, + 0.35797, + 0, + 0.93373 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.87158, + "euclidean_distance": 5.68655, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.33975, + 0.11628, + -2.40501 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "0_edge_210_newN_0", + "path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_102_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0" + ], + "refined_path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "0_edge_102_newN_0" + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:3XXU1SWE8OY5MB4LLETE3WXDYHQ0AA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.5583, + 0.11628, + -3.58078 + ], + "start_rotation": [ + 0, + 0.8814, + 0, + 0.47237 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.49903, + "euclidean_distance": 6.07904, + "closest_goal_object_id": 319, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.64946, + 0.11628, + -4.68101 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "370411a65c3d4dc8bd475805ad0f4195", + "path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ], + "refined_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + [ + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3M23Y66PO4A40ICU43VMXX1A0RUS6F", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.68249, + 0.11628, + -2.5288 + ], + "start_rotation": [ + 0, + 0.87727, + 0, + -0.48 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 15.5209, + "euclidean_distance": 11.91342, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.69201, + 0.11628, + -1.59636 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "370411a65c3d4dc8bd475805ad0f4195", + "path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:33UKMF931BNBHG0LPG85ICPAJHZTTR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.74729, + 2.91628, + -7.33016 + ], + "start_rotation": [ + 0, + 0.11412, + 0, + 0.99347 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 11.75766, + "euclidean_distance": 9.52469, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.16395, + 2.91628, + 1.88886 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "0_edge_50_newN_0", + "path": [ + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:386CSBG1O1PSN2XHCZ6H2XM9F3DQ6P", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.20853, + 0.11628, + 6.43284 + ], + "start_rotation": [ + 0, + 0.67818, + 0, + -0.7349 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.87249, + "euclidean_distance": 4.39969, + "closest_goal_object_id": 428, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.9123, + 0.11628, + 3.47228 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "d0a013ec97674abc8fd7657ea7844221", + "path": [ + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3NJM2BJS4Y9W3753MD4VOSO9TJ3CPG", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.17272, + 3.11628, + -5.45163 + ], + "start_rotation": [ + 0, + 0.41419, + 0, + -0.91019 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.15452, + "euclidean_distance": 8.47942, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.62653, + 2.91628, + -4.86859 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "723a213fbaa847f2a44feac9246fd7b1", + "path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1" + ], + "refined_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3MYYFCXHJ5ANVQZPQF8QBLYTDU3G4E", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.48715, + 0.11628, + -1.11469 + ], + "start_rotation": [ + 0, + 0.99982, + 0, + 0.01913 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 11.61942, + "euclidean_distance": 10.18925, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.23329, + 0.11628, + -4.03991 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "dc9eb48ee3324792889cc391d6d4098c", + "path": [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679" + ], + "refined_path": [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + [ + "0cd0dd452a324496afd701e1c4b2e973" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679" + ] + }, + { + "episode_id": "AXXXTQBQ6VGEU:3F1567XTNY8F5LZFA69TM7DANRK9Q8", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.48398, + 2.91628, + -1.80554 + ], + "start_rotation": [ + 0, + 0.98005, + 0, + -0.19876 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.65487, + "euclidean_distance": 3.37177, + "closest_goal_object_id": 79, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.99642, + 2.91628, + -4.08972 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "53672af2c15047818f2ead24a2370930", + "path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "0_edge_7_newN_1", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_33_newN_1" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "refined_path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ] + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3R8YZBNQ9JLBR2BMV9B98BM5DHZQ7Z", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.07312, + 2.91628, + 2.13095 + ], + "start_rotation": [ + 0, + 0.73866, + 0, + -0.67408 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.1758, + "euclidean_distance": 9.51429, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.49241, + 2.91628, + -4.74221 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "4bb7642a8af44f97acb81190589a3451", + "path": [ + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + [ + "4bb7642a8af44f97acb81190589a3451" + ], + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:32SCWG5HIJ77NQW2CMRS2SWZD7UP63", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.96333, + 3.11628, + -3.1133 + ], + "start_rotation": [ + 0, + 0.24004, + 0, + 0.97076 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.47044, + "euclidean_distance": 5.51111, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.06483, + 2.91628, + -1.02796 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314" + ], + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:30H4UDGLT4L9CTHUZ2Y9ROTLZWZPMD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.44588, + 3.11628, + -5.47246 + ], + "start_rotation": [ + 0, + 0.51731, + 0, + 0.8558 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.6061, + "euclidean_distance": 6.12918, + "closest_goal_object_id": 129, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -2.54179, + 2.91628, + -0.11501 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "4e1ad142e5844d21a376040600184d9a", + "path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ], + "refined_path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3L4D84MIL1VRY4DLDSDC2NZDAMQHJF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.50461, + 0.11628, + 6.60642 + ], + "start_rotation": [ + 0, + 0.98033, + 0, + -0.19738 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.98482, + "euclidean_distance": 6.21767, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.64403, + 0.11628, + 2.5763 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "d0a013ec97674abc8fd7657ea7844221", + "path": [ + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3M68NM076JASZ3CHPEVH7NWDX7T6R4", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.54618, + 2.91628, + -3.89329 + ], + "start_rotation": [ + 0, + 0.98802, + 0, + -0.15434 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.87697, + "euclidean_distance": 3.56643, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.27651, + 2.91628, + -0.35825 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "0_edge_9_newN_0", + "path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "AYYSG3O9FNU15:34T446B1C2HTFQ1J5SP59RN11PS0C6", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.43467, + 2.91628, + -1.78121 + ], + "start_rotation": [ + 0, + 0.26786, + 0, + -0.96346 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 12.91052, + "euclidean_distance": 10.25181, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.96528, + 0.11628, + 3.17757 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "743e6d37beae4b6482a43ae41e634e67", + "path": [ + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "refined_path": [ + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3LO69W1SU5GJTY6AW777X203JPRLG5", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.90042, + 0.11628, + 3.53892 + ], + "start_rotation": [ + 0, + 0.75547, + 0, + 0.65518 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.42241, + "euclidean_distance": 6.66588, + "closest_goal_object_id": 370, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.52816, + 0.11628, + -1.44933 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "b14dbfea048449aa8b8934cbf491a10a", + "path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:33LKR6A5KGNA8WOCNXOVC66FUZO1TB", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.50835, + 2.91628, + 4.24061 + ], + "start_rotation": [ + 0, + 0.98825, + 0, + -0.15283 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 3.52075, + "euclidean_distance": 2.85283, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.83603, + 2.91628, + 1.84931 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "d97dee547dac432094720d127b49b347", + "path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3TXWC2NHN1TRI1ES2AYYH7SCNZSS9R", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.74939, + 2.91628, + -1.67072 + ], + "start_rotation": [ + 0, + 0.87206, + 0, + 0.4894 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.13921, + "euclidean_distance": 5.95953, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.2459, + 0.11628, + 2.89417 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "5f4fd3bd58144211a8617caa5570e40c", + "path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:33JKGHPFYEX9985HJNLHNZOQZHSMN8", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.91572, + 2.91628, + 3.98527 + ], + "start_rotation": [ + 0, + 0.75701, + 0, + -0.6534 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.11023, + "euclidean_distance": 2.00566, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.79511, + 2.91628, + 3.22407 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "0_edge_91_newN_1", + "path": [ + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0" + ], + "refined_path": [ + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1" + ], + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3LEIZ60CDL2OJD06X2S6D0PFAJL9ZG", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.50935, + 2.91628, + -1.62719 + ], + "start_rotation": [ + 0, + 0.42741, + 0, + -0.90406 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.72756, + "euclidean_distance": 7.10341, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.02135, + 0.11628, + 3.17394 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3WI0P0II63VRKCRWZ13VDT66SM9DRY", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.7599, + 2.91628, + -0.15754 + ], + "start_rotation": [ + 0, + 0.88804, + 0, + 0.45976 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.74786, + "euclidean_distance": 6.5967, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.07455, + 0.11628, + 2.59447 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "080a334ceb144054b12c4ed7847b8f71", + "path": [ + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "0_edge_157_newN_2", + [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:31EUONYN2X6AHGZ2YUMLPK7716KVOF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.51163, + 0.11628, + 2.87393 + ], + "start_rotation": [ + 0, + 0.29553, + 0, + 0.95533 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.48404, + "euclidean_distance": 4.26792, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.10424, + 0.11628, + -1.23621 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "10_edge_195_newN_0", + "path": [ + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "A1UURQF07IOXBO:39JEC7537W498R2Z8PDUUKDRVKBVCX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.94941, + 0.11628, + -1.67864 + ], + "start_rotation": [ + 0, + 0.5311, + 0, + -0.84731 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.35769, + "euclidean_distance": 8.62766, + "closest_goal_object_id": 402, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.21555, + 0.11628, + 6.8148 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "4545f7a0d918401ebccdb6716a5f1fce", + "path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:37XITHEISYCHFKLIZ58KTNOOAF8RCC", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.96474, + 0.11628, + -1.26964 + ], + "start_rotation": [ + 0, + 0.93339, + 0, + -0.35887 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.4567, + "euclidean_distance": 4.14966, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 0.80344, + 0.11628, + 0.47576 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "84928b00abef4a8489bcaa2ce410d1e5", + "path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_1", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_124_newN_0" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0" + ], + "refined_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_147_newN_1", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5" + ], + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "0_edge_124_newN_0" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3EFE17QCRE8KX7WB0MMQUOQ06GLHSZ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.88984, + 2.91628, + -1.76982 + ], + "start_rotation": [ + 0, + 0.94652, + 0, + -0.32264 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 13.55459, + "euclidean_distance": 8.84603, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.11991, + 0.11628, + 2.6645 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "743e6d37beae4b6482a43ae41e634e67", + "path": [ + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ], + "refined_path": [ + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3WEV0KO0OOV3LRR9EQ3033B2HDPDS0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.13798, + 0.11628, + 6.83264 + ], + "start_rotation": [ + 0, + 0.60302, + 0, + 0.79773 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 13.8869, + "euclidean_distance": 6.10186, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.27878, + 2.91628, + 1.9312 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "d0a013ec97674abc8fd7657ea7844221", + "path": [ + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + [ + "db59566f6465453d88a27b5bcb19b096" + ], + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A3NMQ3019X6YE0:3KB8R4ZV1GA7GPKY5UIDJZ4ZNHSGBI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.84139, + 3.11628, + -4.27724 + ], + "start_rotation": [ + 0, + 0.97919, + 0, + -0.20296 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.98089, + "euclidean_distance": 7.43644, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.26555, + 2.91628, + -0.38782 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3DIP6YHAPEVQUDQ0WN8FSUTM2LX8EF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.65181, + 0.11628, + -4.41532 + ], + "start_rotation": [ + 0, + 0.91641, + 0, + -0.40024 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 4.42153, + "euclidean_distance": 4.10728, + "closest_goal_object_id": 260, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.39438, + 0.11628, + -1.31705 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_210_newN_0", + "path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + [ + "3c496aedd9d645a5b8d7a7b1b53f0636" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A12PUQIBXRBOXV:33CID57106WIZMUM1S0NE8BVVW3L3K", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.63188, + 2.96985, + -1.83166 + ], + "start_rotation": [ + 0, + 0.99546, + 0, + 0.09522 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.13649, + "euclidean_distance": 5.84596, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.2435, + 1.22433, + 1.46309 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3WMINLGALD6PG3Z1XUMYYXZEAAPCAS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.35214, + 2.91628, + 3.22125 + ], + "start_rotation": [ + 0, + 0.74441, + 0, + -0.66773 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 10.73214, + "euclidean_distance": 7.42309, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.50546, + 2.91628, + -0.68451 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "0bcfce0d81294b7e84a7eed52cb04a4e", + "path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A7XL1V3G7C2VV:3XC1O3LBOUPNY3SGG76EWLFS901TLM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.98194, + 2.91628, + 1.57669 + ], + "start_rotation": [ + 0, + 0.00924, + 0, + 0.99996 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.17809, + "euclidean_distance": 6.3032, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.32123, + 2.91628, + 1.91145 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "d339130a5534437da266a71435143314", + "path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3M1CVSFP628TA49K2CNTI2OVBL8AQ2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.99819, + 2.91628, + 0.68972 + ], + "start_rotation": [ + 0, + 0.78369, + 0, + 0.62115 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 10.97178, + "euclidean_distance": 7.37311, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.23657, + 2.91628, + 1.86707 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "34a370fe2d1840e196a491db1e995e16", + "path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3EICBYG646Z0HW25R0ZBRW2WHPSCJG", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.5586, + 0.11628, + -5.02913 + ], + "start_rotation": [ + 0, + 0.95524, + 0, + -0.29583 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 9.34714, + "euclidean_distance": 8.70749, + "closest_goal_object_id": 214, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.85477, + 0.11628, + 3.67486 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "0_edge_147_newN_1", + "path": [ + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A13WYZ8AXD6ODX:3PW9OPU9PSNGOXUZ4I4ZBJXPUM0128", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.83753, + 0.11628, + 2.89881 + ], + "start_rotation": [ + 0, + 0.90798, + 0, + -0.419 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.77349, + "euclidean_distance": 12.76175, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.17796, + 2.91628, + -0.42619 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "bfd18e7fa8894c26a00f0cad55b31f76", + "path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1" + ], + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:338JKRMM282GXBAHJM0Z9OWUK5IAHQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.57706, + 2.91628, + 2.82666 + ], + "start_rotation": [ + 0, + 0.67163, + 0, + -0.74089 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 9.00715, + "euclidean_distance": 7.40019, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.22364, + 2.91628, + -4.10684 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "374e664207754a3b95a7d8010e122296", + "path": [ + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "refined_path": [ + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3L4PIM1GQVJUINMNVXQ9QEG6WHTYR3", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.82841, + 0.11628, + 2.66221 + ], + "start_rotation": [ + 0, + 0.9979, + 0, + 0.06474 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.35596, + "euclidean_distance": 4.15073, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.23151, + 2.91628, + -0.34466 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "dde66ea80aca47968d3ec9c6e6ef3c0a", + "path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3DYGAII7PNB0X8FMRV5Q8XDQA8EPQ5", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.21195, + 0.11628, + 0.35733 + ], + "start_rotation": [ + 0, + 0.07414, + 0, + 0.99725 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 7.68442, + "euclidean_distance": 5.05045, + "closest_goal_object_id": 197, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 1.18297, + 0.11628, + 5.27818 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "181c56d99ddd42ba8d4be09dbb135381", + "path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ], + "refined_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3WRFBPLXRCR8NMX7D5G2R0FK01Q3NB", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.86521, + 2.91628, + 0.03136 + ], + "start_rotation": [ + 0, + 0.98913, + 0, + -0.14704 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.88445, + "euclidean_distance": 5.25946, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.96017, + 2.91628, + -1.11889 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "34a370fe2d1840e196a491db1e995e16", + "path": [ + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3AAJC4I4FIVDPPDFJEJJ2U3HQHRJZJ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.81467, + 0.11628, + 5.13122 + ], + "start_rotation": [ + 0, + 0.08104, + 0, + -0.99671 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.68311, + "euclidean_distance": 3.49093, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.14779, + 0.11628, + 2.14193 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "46631317e8684d3f98f0b9c7d3c51417", + "path": [ + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3WJ1OXY92CJN409OGI6TWB3VKKIA80", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.53812, + 0.11628, + 2.90127 + ], + "start_rotation": [ + 0, + 0.43202, + 0, + 0.90187 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.27858, + "euclidean_distance": 5.62158, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.18321, + 0.11628, + -1.29881 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "b14dbfea048449aa8b8934cbf491a10a", + "path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "refined_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3Z4AIRP3C8GHPDXWS7PS19RLRM61XQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.5008, + 2.91628, + -4.05103 + ], + "start_rotation": [ + 0, + 0.93722, + 0, + 0.34874 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.50022, + "euclidean_distance": 7.9396, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.10393, + 0.11628, + 2.63714 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "d804a36fe0fc40dfb8f03ca3758ce904", + "path": [ + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "743e6d37beae4b6482a43ae41e634e67", + "0_edge_122_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "743e6d37beae4b6482a43ae41e634e67", + "0_edge_122_newN_0", + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "refined_path": [ + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "eba5ca774e2a41dfa6e22fbff7fe66d2", + [ + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "743e6d37beae4b6482a43ae41e634e67", + "0_edge_122_newN_0", + [ + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ], + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + [ + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:37C0GNLMHH6YYTTC7D0X2YFAWTU6DG", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.11646, + 2.07802, + 0.42284 + ], + "start_rotation": [ + 0, + 0.63369, + 0, + -0.77359 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 4.0007, + "euclidean_distance": 2.8985, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.63235, + 2.91628, + -0.84772 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "c4fc538718cc4918884d2040ce523a5f", + "path": [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:35LDD5557C7812KEMAT1V77M624KMF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.05439, + 0.11628, + -0.42608 + ], + "start_rotation": [ + 0, + 0.01978, + 0, + 0.9998 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.8837, + "euclidean_distance": 4.32074, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.27197, + 0.11628, + -4.21172 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "8b219cad487e4091b7c29146f0224729", + "path": [ + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "refined_path": [ + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b" + ], + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + [ + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3E47SOBEYSZ4MLIZ9IEBFVNXKFBCI4", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.38304, + 0.11628, + 6.36542 + ], + "start_rotation": [ + 0, + 0.99626, + 0, + -0.08642 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.51083, + "euclidean_distance": 3.78092, + "closest_goal_object_id": 428, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.92124, + 0.11628, + 3.4154 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_153_newN_2", + "path": [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_204_newN_1", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "A39EZ7V9T25RZO:3NQL1CS15TBMBU344HVJRB5AI0QYV9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.09789, + 0.11628, + -2.99228 + ], + "start_rotation": [ + 0, + 0.9933, + 0, + 0.11555 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 13.48084, + "euclidean_distance": 10.64122, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.58405, + 0.11628, + 7.00252 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "674b3b6705604a4c8b89182edee11e54", + "path": [ + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3IQ1VMJRYVNNI5SYLAC7W7Y64MWA9D", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.5696, + 2.91628, + 3.52849 + ], + "start_rotation": [ + 0, + 0.96386, + 0, + -0.26642 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 13.43463, + "euclidean_distance": 7.52551, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.80385, + 2.91628, + 1.88967 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "0cb5fac1789e42d5a99cc87f4ef8cb35", + "path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3I33IC7ZWH5CIL7Z01XSMKQSI84A27", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.53278, + 2.91628, + 2.83248 + ], + "start_rotation": [ + 0, + 0.31804, + 0, + -0.94808 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.91253, + "euclidean_distance": 5.26305, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.16228, + 0.11628, + 2.70092 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "374e664207754a3b95a7d8010e122296", + "path": [ + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3DUZQ9U6SORPF8RV5B3U9PH9HJAVSW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.78492, + 0.11628, + -0.36303 + ], + "start_rotation": [ + 0, + 0.26568, + 0, + -0.96406 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.99648, + "euclidean_distance": 3.4957, + "closest_goal_object_id": 370, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.57921, + 0.11628, + -1.42515 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "ed7387d968874f4bbe512395b64405af", + "path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "refined_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3IGI0VL649NX9BQTW30UF3DVV4BON4", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.30453, + 2.91628, + -4.55016 + ], + "start_rotation": [ + 0, + 0.63267, + 0, + -0.77442 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 12.90298, + "euclidean_distance": 8.77634, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.2121, + 0.11628, + 3.44563 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "0_edge_7_newN_1", + "path": [ + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Locate the fireplace.", + "instr_encoding": [ + 101, + 12453, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3QXNC7EIPKYRHSUGT8FE71MSCZW091", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.00455, + 2.91628, + 1.77073 + ], + "start_rotation": [ + 0, + 0.78455, + 0, + -0.62007 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.79601, + "euclidean_distance": 6.61494, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.05883, + 2.91628, + -1.00204 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "4bb7642a8af44f97acb81190589a3451", + "path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_9_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "refined_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + [ + "b8e48c0381644e26bee60d15b8afb47e" + ], + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3TU5ZICBRF4FRGG55E3FMBIZ7GI8QS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.08093, + 0.11628, + -2.83072 + ], + "start_rotation": [ + 0, + 0.46512, + 0, + -0.88525 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 17.75394, + "euclidean_distance": 9.0322, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.12157, + 2.91628, + 1.92965 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "f53ff13e8a954c67bda9a46f3e2e88b8", + "path": [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + [ + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:30JNVC0ORBN8KRHY8IXLZOBZONZHQZ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.54476, + 2.91628, + 6.36038 + ], + "start_rotation": [ + 0, + 0.74876, + 0, + 0.66284 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.85229, + "euclidean_distance": 11.13109, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.47019, + 2.91628, + -4.81708 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "eba5ca774e2a41dfa6e22fbff7fe66d2", + "path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1" + ], + "refined_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3UJ1CZ6IZJS8HECGZKLH5RNAOQ5S5T", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.52542, + 0.11628, + -1.52966 + ], + "start_rotation": [ + 0, + 0.28613, + 0, + 0.95819 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 7.40995, + "euclidean_distance": 6.21806, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.33306, + 0.11628, + -2.28916 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "0cd0dd452a324496afd701e1c4b2e973", + "path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "instruction": "Navigate to the fireplace.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "refined_path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195" + ] + }, + { + "episode_id": "A39E9936894TJR:3Z4GS9HPNXD1LK67ZA238K5A51577X", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.19684, + 0.11628, + 2.24624 + ], + "start_rotation": [ + 0, + 0.99818, + 0, + -0.06032 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 14.28027, + "euclidean_distance": 11.84311, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.72227, + 0.11628, + 7.10175 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "b14dbfea048449aa8b8934cbf491a10a", + "path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "b3c99ac15d9546cd9d58a45647f63934", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + [ + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0" + ], + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3G5W44VEU9L89SOSB7V6I2NOUFFKGA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.74495, + 0.11628, + 0.33599 + ], + "start_rotation": [ + 0, + 0.16407, + 0, + 0.98645 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.89376, + "euclidean_distance": 4.54058, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.06422, + 0.11628, + -4.07012 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "6a10ae81330345f794a55f2d96a86ea6", + "path": [ + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "ANFWGSQ8BQRZ:3SB5N7Y3O576W2HO7ELOZI8GZFT0GL", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.7019, + 2.91628, + 3.82222 + ], + "start_rotation": [ + 0, + 0.99693, + 0, + 0.07826 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 13.37949, + "euclidean_distance": 6.86286, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.53506, + 2.91628, + -1.02301 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "1e9bcf7676d44f2691efdeadc0d88d76", + "path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + "0_edge_161_newN_0", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + [ + "1e9bcf7676d44f2691efdeadc0d88d76" + ], + "0_edge_161_newN_0", + [ + "1e9bcf7676d44f2691efdeadc0d88d76" + ], + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3FK0YFF9P1J5708ZZ68ZKC1GGS3VVA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.50321, + 2.91628, + -6.42249 + ], + "start_rotation": [ + 0, + 0.70034, + 0, + 0.71381 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 12.20565, + "euclidean_distance": 10.65853, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.14811, + 0.11628, + 2.9532 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "0_edge_57_newN_1", + "path": [ + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "A3APKUC67F9IMW:3JWH6J9I9UGDQH1KSYV89JDWRWMBN2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.06351, + 0.11628, + 1.2538 + ], + "start_rotation": [ + 0, + 0.13956, + 0, + -0.99021 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 12.59738, + "euclidean_distance": 11.34231, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.71169, + 0.11628, + -2.79154 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "dfa246b0d1fe4f08953b20151cf951c3", + "path": [ + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "1d8256878b534440b5ba54b31bfb210b" + ], + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:39JEC7537W498R2Z8PDUUKDRSIYCVU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.03163, + 0.11628, + -4.49635 + ], + "start_rotation": [ + 0, + 0.92944, + 0, + -0.36898 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 4.5399, + "euclidean_distance": 4.09608, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.20985, + 0.11628, + -1.75837 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "dbcf0a37c275473094e1160770291679", + "path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:33M4IA01QI45IIWDQ147709Y851RXW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.59102, + 0.11628, + -6.11246 + ], + "start_rotation": [ + 0, + 0.88117, + 0, + -0.47281 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.27551, + "euclidean_distance": 5.49183, + "closest_goal_object_id": 412, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.28778, + 0.11628, + -1.29718 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "dd6ae3e4669546a4a7fd78186723d12f", + "path": [ + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3FQ5JJ512NREJK5EYB818MWMELKKNA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.40601, + 0.11628, + 2.11185 + ], + "start_rotation": [ + 0, + 0.07144, + 0, + -0.99745 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.36797, + "euclidean_distance": 4.04226, + "closest_goal_object_id": 370, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.5637, + 0.11628, + -1.46692 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "bfd18e7fa8894c26a00f0cad55b31f76", + "path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0" + ], + "refined_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3NPI0JQDAQ8DPO7E8ZZLD2ODH6APTL", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.62035, + 2.91628, + 3.87487 + ], + "start_rotation": [ + 0, + 0.93553, + 0, + 0.35325 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.89679, + "euclidean_distance": 2.96766, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.98414, + 0.11628, + 3.14051 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "0_edge_91_newN_1", + "path": [ + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_33_newN_1", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2" + ], + "refined_path": [ + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "0_edge_33_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + [ + "0_edge_153_newN_2", + "0_edge_157_newN_2" + ] + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3PPTZCWALSNUBCHSE43SZVF47Y2QZD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -14.55263, + 0.1496, + 0.14888 + ], + "start_rotation": [ + 0, + 0.62118, + 0, + 0.78367 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.9567, + "euclidean_distance": 7.37355, + "closest_goal_object_id": 412, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.39954, + 0.11628, + -1.24996 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "0_edge_2_newN_1", + "path": [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ], + "refined_path": [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3K772S5NPAEJNORTZR2L57ML8E9EH9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.96821, + 0.11628, + 2.84101 + ], + "start_rotation": [ + 0, + 0.9838, + 0, + 0.17924 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 3.89943, + "euclidean_distance": 3.25623, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.64451, + 0.11628, + 2.64727 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "8f5a767771964a56b3708d5415c446b2", + "path": [ + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + [ + "8f5a767771964a56b3708d5415c446b2" + ], + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3W92K5RLWWKO96TKTFQMGE7H335V55", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.47788, + 0.11628, + 0.00983 + ], + "start_rotation": [ + 0, + 0.95903, + 0, + -0.2833 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 12.60235, + "euclidean_distance": 10.58976, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.19555, + 0.11628, + -4.20064 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "181c56d99ddd42ba8d4be09dbb135381", + "path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b" + ], + "refined_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3M68NM076JASZ3CHPEVH7NWEEPH6RB", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.73597, + 0.11628, + -3.34268 + ], + "start_rotation": [ + 0, + 0.90228, + 0, + -0.43115 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.58539, + "euclidean_distance": 8.56928, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.56678, + 0.11628, + 3.63885 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_146_newN_0", + "path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "0_edge_82_newN_0", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_9_newN_0", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ], + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + ] + }, + { + "episode_id": "A13WYZ8AXD6ODX:3A4NIXBJ782JL82W7A52A7K1UMVML9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.33821, + 0.95492, + 1.91519 + ], + "start_rotation": [ + 0, + 0.87999, + 0, + -0.475 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.23565, + "euclidean_distance": 1.9417, + "closest_goal_object_id": 398, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.19873, + 0.11628, + 3.39288 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "673ae67937804c42b3c22e93efb5d069", + "path": [ + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3L4D84MIL1VRY4DLDSDC2NZCUR0HJH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.44431, + 2.91628, + 4.4234 + ], + "start_rotation": [ + 0, + 0.942, + 0, + -0.3356 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 12.64097, + "euclidean_distance": 5.42077, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.06717, + 0.11628, + 2.96029 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "d97dee547dac432094720d127b49b347", + "path": [ + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "8f25ebb1c23d4fddb035eb336426d5fa", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3JZQSN0I3SDXT6WEAW492PVK14HGFA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.03749, + 0.11628, + -3.91705 + ], + "start_rotation": [ + 0, + 0.90772, + 0, + -0.41957 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 2.50914, + "euclidean_distance": 1.69904, + "closest_goal_object_id": 319, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.54453, + 0.11628, + -4.79461 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "0_edge_66_newN_0", + "path": [ + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "5d82955e203d447a901929bc53deefd0", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b" + ], + "refined_path": [ + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + [ + "1d8256878b534440b5ba54b31bfb210b" + ], + "5d82955e203d447a901929bc53deefd0", + [ + "1d8256878b534440b5ba54b31bfb210b" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + [ + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_146_newN_0", + "0_edge_146_newN_1", + [ + "0_edge_146_newN_0" + ], + "4e1ad142e5844d21a376040600184d9a", + [ + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + [ + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0" + ], + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3FPRZHYEP0ALVR6GFW2T1H9XLTJ3VW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.82882, + 0.11628, + 0.88061 + ], + "start_rotation": [ + 0, + 0.40871, + 0, + 0.91266 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.1045, + "euclidean_distance": 1.98676, + "closest_goal_object_id": 398, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.45198, + 0.11628, + 2.82199 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "3c5c466d4f64452a9e87c545d918c4eb", + "path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:34S6N1K2ZXMXTU1LGDPPI2C5120HLR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.09212, + 3.11628, + -5.41326 + ], + "start_rotation": [ + 0, + 0.90693, + 0, + 0.42128 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 13.44951, + "euclidean_distance": 9.86401, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.98984, + 0.11628, + 2.64663 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "723a213fbaa847f2a44feac9246fd7b1", + "path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "9001b330086e4aa69799729560e6dca0", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "refined_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + [ + "0_edge_146_newN_0" + ], + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa" + ], + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ], + "50629d10507840cba1ff155045d3f76b" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3VSOLARPKDCNYKTDCVXX9ZK0VIS397", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.45044, + 0.11628, + -4.39418 + ], + "start_rotation": [ + 0, + 0.32161, + 0, + 0.94687 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 12.63995, + "euclidean_distance": 9.75879, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.22427, + 0.11628, + -4.20123 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "b3c99ac15d9546cd9d58a45647f63934", + "path": [ + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3GNCZX450KQ8AS852Z84IXYL9T5PAK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.75564, + 0.11628, + 0.50565 + ], + "start_rotation": [ + 0, + 0.75722, + 0, + 0.65315 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 17.98245, + "euclidean_distance": 16.76257, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.62569, + 0.11628, + -2.82737 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_126_newN_1", + "path": [ + "0_edge_126_newN_1", + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_126_newN_1", + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "0_edge_126_newN_1", + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "ALZVG5501Y5IX:36TFCYNS46DSTOIAUWSDTW7SONGXH3", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.89063, + 2.91628, + 3.22685 + ], + "start_rotation": [ + 0, + 0.91089, + 0, + -0.41265 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.70288, + "euclidean_distance": 8.0307, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.63091, + 2.91628, + -4.83076 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "0_edge_33_newN_1", + "path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1" + ], + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:388U7OUMF94XLSQ2NPF0YMMN1QER0M", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.37823, + 2.91628, + -6.31923 + ], + "start_rotation": [ + 0, + 0.67839, + 0, + -0.7347 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 12.06561, + "euclidean_distance": 10.51697, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.00846, + 0.11628, + 2.90591 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "0_edge_57_newN_1", + "path": [ + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + [ + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3YJ6NA41JDJJBLB9W5LHBW14ZCWJPJ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.20038, + 2.91628, + 1.04108 + ], + "start_rotation": [ + 0, + 0.87838, + 0, + -0.47796 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.00522, + "euclidean_distance": 3.30889, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.8002, + 2.91628, + 3.12891 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "625eb179629b45f280c01d3f6ec74b4f", + "path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3FIJLY1B6W736JPDDFUWWY9C6A5PFM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.24891, + 0.11628, + -3.86112 + ], + "start_rotation": [ + 0, + 0.46188, + 0, + -0.88694 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 7.20724, + "euclidean_distance": 6.10377, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.07582, + 0.11628, + -4.4685 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5" + ], + "instruction": "Locate the fireplace.", + "instr_encoding": [ + 101, + 12453, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3OLF68YTNB4WJFJBOWCZ63KGQZCFA6", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.62567, + 0.11628, + 2.53357 + ], + "start_rotation": [ + 0, + 0.62686, + 0, + 0.77913 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.37844, + "euclidean_distance": 2.51535, + "closest_goal_object_id": 397, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.41181, + 0.11628, + 1.305 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "45af7750dab04ee9931d8c9a1ce9ee7d", + "path": [ + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0cd0dd452a324496afd701e1c4b2e973", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0" + ], + "refined_path": [ + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + [ + "3c496aedd9d645a5b8d7a7b1b53f0636" + ], + "674b3b6705604a4c8b89182edee11e54", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54" + ], + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3HUTX6F6VWQ1KP10AK2ANFAXNWO2O8", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.90442, + 0.11628, + -1.93511 + ], + "start_rotation": [ + 0, + 0.96959, + 0, + 0.24474 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.66323, + "euclidean_distance": 6.74562, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.69318, + 0.11628, + 3.64195 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "eb3364f96bed4877b27ce5e0cfa32702", + "path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679" + ], + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54" + ], + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:32XVDSJFP10DKMGOX4NXVBLRBANM20", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.848, + 0.11628, + -4.56717 + ], + "start_rotation": [ + 0, + 0.50406, + 0, + -0.86367 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.13505, + "euclidean_distance": 8.41478, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.4002, + 0.11628, + 3.03582 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "0_edge_146_newN_0", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a" + ], + "0_edge_146_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ], + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + [ + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + [ + "3c496aedd9d645a5b8d7a7b1b53f0636" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3X87C8JFV8EXA0VEJC9K32I1XZ9SQQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.80039, + 2.91628, + -1.31489 + ], + "start_rotation": [ + 0, + 0.67407, + 0, + -0.73867 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.5641, + "euclidean_distance": 4.67734, + "closest_goal_object_id": 175, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.88158, + 2.91628, + 2.91822 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "53672af2c15047818f2ead24a2370930", + "path": [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3LOZAJ85YFGOEYFSBBP66S1QW1V2XE", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.05787, + 2.91628, + -0.1768 + ], + "start_rotation": [ + 0, + 0.00354, + 0, + 0.99999 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.64766, + "euclidean_distance": 8.11787, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.23163, + 2.91628, + -0.41161 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "080a334ceb144054b12c4ed7847b8f71", + "path": [ + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3ZV9H2YQQFAYAG6L567PNJSBG323WD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.58701, + 2.91628, + 2.30603 + ], + "start_rotation": [ + 0, + 0.86333, + 0, + -0.50464 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.26765, + "euclidean_distance": 1.96497, + "closest_goal_object_id": 174, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.69482, + 2.91628, + 0.79332 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "d339130a5534437da266a71435143314", + "path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3XC1O3LBOUPNY3SGG76EWLFSBNETLB", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.50318, + 2.91628, + -0.36578 + ], + "start_rotation": [ + 0, + 0.95957, + 0, + 0.28148 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 7.16352, + "euclidean_distance": 6.66998, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.27713, + 2.91628, + -0.457 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "7cae5e5f8adf444d829c95b4a4412ffd", + "path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:34S9DKFK75S93PUV2Q9SHUBX98UNYM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.24445, + 2.91628, + 0.91381 + ], + "start_rotation": [ + 0, + 0.66084, + 0, + 0.75053 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 8.92812, + "euclidean_distance": 7.67347, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.03577, + 2.91628, + -4.14719 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "34a370fe2d1840e196a491db1e995e16", + "path": [ + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "7cae5e5f8adf444d829c95b4a4412ffd", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "refined_path": [ + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451" + ], + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "A3D6VDP1APQF3D:3WLEIWSYHQKRS8FD677K36DWBDP2H5", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.65914, + 2.91628, + -5.95472 + ], + "start_rotation": [ + 0, + 0.13481, + 0, + 0.99087 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 7.17005, + "euclidean_distance": 4.90888, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.50279, + 2.91628, + -1.07222 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "8388153c198e4e4fb75cd8d0fd96d8a2", + "path": [ + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3J88R45B2I1K65GYD90I259J7C6PX9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.8224, + 0.11628, + 6.60554 + ], + "start_rotation": [ + 0, + 0.40916, + 0, + 0.91246 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.0799, + "euclidean_distance": 6.46495, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.61825, + 0.11628, + 2.6294 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "d0a013ec97674abc8fd7657ea7844221", + "path": [ + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ], + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3PH3VY7DJN0ZV9DEQD2YRKXPSDAWZ1", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.02835, + 0.11628, + -5.2028 + ], + "start_rotation": [ + 0, + 0.38943, + 0, + 0.92106 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 5.99404, + "euclidean_distance": 2.66801, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.14608, + 0.11628, + -3.80426 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_124_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "0_edge_102_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + [ + "db59566f6465453d88a27b5bcb19b096" + ], + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786" + ], + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ], + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "0_edge_124_newN_0", + [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ], + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + [ + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + [ + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3PS7W85Z815SX1R7RA3ORCOYPAM9TX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.00947, + 0.11628, + -4.59982 + ], + "start_rotation": [ + 0, + 0.91917, + 0, + -0.39387 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.39424, + "euclidean_distance": 8.78826, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.3095, + 2.91628, + 1.93659 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_9_newN_0", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3ZGVPD4G6VK73S9KV8XN40QR7IEZTJ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.5469, + 0.11628, + -3.58329 + ], + "start_rotation": [ + 0, + 0.17941, + 0, + 0.98377 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 6.48461, + "euclidean_distance": 5.44177, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.21946, + 0.11628, + -4.59283 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "8b8c58d65b3049ef8a844f237096b06d", + "path": [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5" + ], + "instruction": "Navigate to the fireplace.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "refined_path": [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ] + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:37UEWGM5HVBXSHBKJ8J0CR5X3KKR1Q", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.73866, + 0.11628, + -3.94151 + ], + "start_rotation": [ + 0, + 0.17385, + 0, + 0.98477 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.6964, + "euclidean_distance": 3.47575, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.13156, + 0.11628, + -4.11825 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b" + ], + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3UXUOQ9OKG0J4M456DENIB70622A74", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.7625, + 0.11628, + -6.00242 + ], + "start_rotation": [ + 0, + 0.1669, + 0, + 0.98597 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 9.85053, + "euclidean_distance": 7.83369, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.23659, + 0.11628, + -3.76897 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "723a213fbaa847f2a44feac9246fd7b1", + "path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "refined_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + [ + "db59566f6465453d88a27b5bcb19b096" + ], + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ] + }, + { + "episode_id": "A1198W1SPF1R4:3RXCAC0YITSOERMR2IY3SXEYFNG8G8", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.82043, + 0.11628, + -2.58981 + ], + "start_rotation": [ + 0, + 0.46751, + 0, + 0.88399 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 11.8306, + "euclidean_distance": 6.16837, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.2284, + 0.11628, + 3.5447 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "61cac35d27254f8b8edba9601c4f8b5f", + "path": [ + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ], + "instruction": "Locate the fireplace.", + "instr_encoding": [ + 101, + 12453, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "refined_path": [ + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ] + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3GM6G9ZBKP074LA1GJ7TWYUISGLMTI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.50709, + 0.11628, + -1.43274 + ], + "start_rotation": [ + 0, + 0.91818, + 0, + 0.39617 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 9.02034, + "euclidean_distance": 8.49861, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.51185, + 0.11628, + 7.01504 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "5c3c7dfad2b3409182ecaf5535107dc5", + "path": [ + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A16184N1RO5OJV:3R9WASFE21JXKNRJ0OSYNWBQD5DZF7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.10579, + 0.11628, + 6.01241 + ], + "start_rotation": [ + 0, + 0.66238, + 0, + -0.74917 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 14.35176, + "euclidean_distance": 7.68246, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.43277, + 2.91628, + -1.01582 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "0_edge_157_newN_0", + "path": [ + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3PQ8K71NHZN1NO23DGQ7S29QA3LAAX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.97653, + 0.11628, + -4.1984 + ], + "start_rotation": [ + 0, + 0.93709, + 0, + -0.34909 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 19.06791, + "euclidean_distance": 6.67362, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.29055, + 2.91628, + 1.85121 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + [ + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b219cad487e4091b7c29146f0224729", + [ + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39DD6S19JRE5E9RN5D8S5EQPNR7EZ7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.27539, + 0.11628, + 2.52008 + ], + "start_rotation": [ + 0, + 0.99976, + 0, + -0.02175 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 7.01455, + "euclidean_distance": 6.69301, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.12969, + 0.11628, + -4.08536 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "dde66ea80aca47968d3ec9c6e6ef3c0a", + "path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3ON104KXQMZJSCPP5KC8XOKHU9CW4H", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.14076, + 2.91628, + 3.73078 + ], + "start_rotation": [ + 0, + 0.5156, + 0, + -0.85683 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 17.68872, + "euclidean_distance": 5.0112, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.60489, + 0.11628, + 7.07221 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_77_newN_0", + "path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "0_edge_50_newN_0", + "6a876090f6f34eb59bc03a68df7137b5", + "0_edge_7_newN_1", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_50_newN_0", + "6a876090f6f34eb59bc03a68df7137b5", + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + [ + "1e9bcf7676d44f2691efdeadc0d88d76" + ], + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_50_newN_0", + "6a876090f6f34eb59bc03a68df7137b5", + [ + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_7_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3WETL7AQWVB4XXR195KGXJFYW7W53Y", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.36629, + 0.11628, + 0.4847 + ], + "start_rotation": [ + 0, + 0.92681, + 0, + -0.37554 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.2475, + "euclidean_distance": 3.04809, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.41871, + 0.11628, + -2.51087 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "8b219cad487e4091b7c29146f0224729", + "path": [ + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3LBXNTKX0TYZEI0RWK4LGF942C6X9C", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.61502, + 2.91628, + -4.26046 + ], + "start_rotation": [ + 0, + 0.12792, + 0, + -0.99178 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 5.06788, + "euclidean_distance": 3.55361, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.56593, + 2.91628, + -0.63844 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_7_newN_1", + "path": [ + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:308Q0PEVBAG2ONBWXY4KD5MPDJFI9D", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.40994, + 0.11628, + -3.77536 + ], + "start_rotation": [ + 0, + 0.97091, + 0, + 0.23944 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 2.65367, + "euclidean_distance": 2.47395, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.6328, + 0.11628, + -1.43856 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "e5e6c99e38014827b50ad33cd22e3c9d", + "path": [ + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "0_edge_2_newN_0", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "refined_path": [ + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + [ + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:32Z9ZLUT1NN5ZF4IT55HAJGZWAZHO8", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.11417, + 0.11628, + 2.20898 + ], + "start_rotation": [ + 0, + 0.94241, + 0, + -0.33445 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 5.96047, + "euclidean_distance": 4.92123, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.38085, + 0.11628, + -2.15962 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "0_edge_126_newN_0", + "path": [ + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "dfa246b0d1fe4f08953b20151cf951c3", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "0_edge_207_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c" + ], + "instruction": "Find the fireplace.", + "instr_encoding": [ + 101, + 2424, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "dfa246b0d1fe4f08953b20151cf951c3", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "refined_path": [ + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "dfa246b0d1fe4f08953b20151cf951c3", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195" + ] + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3RYC5T2D75W099UM4AUQDNNV9TURPN", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.70491, + 2.91628, + 6.1233 + ], + "start_rotation": [ + 0, + 0.84538, + 0, + -0.53417 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 3.75368, + "euclidean_distance": 3.40736, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.50382, + 2.91628, + 3.17486 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "5635036d3bfb483eac283af7bb5ac986", + "path": [ + "5635036d3bfb483eac283af7bb5ac986", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "0_edge_33_newN_1" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "5635036d3bfb483eac283af7bb5ac986", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "refined_path": [ + "5635036d3bfb483eac283af7bb5ac986", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + [ + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2" + ], + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986" + ], + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + [ + "d97dee547dac432094720d127b49b347" + ], + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ] + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3F6HPJW4JF39PYA216TK49NJNBSW26", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.07176, + 2.91628, + -3.39834 + ], + "start_rotation": [ + 0, + 0.08318, + 0, + -0.99653 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 12.29597, + "euclidean_distance": 10.92824, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.56045, + 0.11628, + 6.96957 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "d804a36fe0fc40dfb8f03ca3758ce904", + "path": [ + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_30_newN_1", + "0_edge_185_newN_1", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b14dbfea048449aa8b8934cbf491a10a", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + [ + "d97dee547dac432094720d127b49b347" + ], + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "0_edge_185_newN_1", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + [ + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096" + ], + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "b14dbfea048449aa8b8934cbf491a10a", + [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3LRLIPTPESC7Z1BPP73WMGCLWR9KAJ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.90052, + 0.11628, + 5.24612 + ], + "start_rotation": [ + 0, + 0.22898, + 0, + -0.97343 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.51326, + "euclidean_distance": 3.70636, + "closest_goal_object_id": 247, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.31087, + 0.11628, + 2.30926 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "5a89e430e6fb471189468fb44bbea75c", + "path": [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "refined_path": [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:35GMH2SV3GKTF5DG34XBPGJMKZSEO0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.53798, + 0.11628, + 5.57358 + ], + "start_rotation": [ + 0, + 0.49295, + 0, + 0.87006 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.61141, + "euclidean_distance": 8.96671, + "closest_goal_object_id": 427, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.54707, + 0.11628, + 1.91257 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "947f02de64db4ccbbe220a9f9124a815", + "path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "5d82955e203d447a901929bc53deefd0" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0" + ], + "refined_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + [ + "1d8256878b534440b5ba54b31bfb210b" + ], + "5d82955e203d447a901929bc53deefd0" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3MD9PLUKKKH98F40YCBBV1KY1A6NZL", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.7586, + 0.11628, + -0.00164 + ], + "start_rotation": [ + 0, + 0.0047, + 0, + -0.99999 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 13.56736, + "euclidean_distance": 12.01969, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.67813, + 0.11628, + 3.75275 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ed7387d968874f4bbe512395b64405af", + "path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "0cd0dd452a324496afd701e1c4b2e973", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0cd0dd452a324496afd701e1c4b2e973", + [ + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ], + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3TUI152ZZDQXGGWK6TU071VS7ZCQ1K", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.68442, + 0.11628, + 5.35244 + ], + "start_rotation": [ + 0, + 0.07572, + 0, + 0.99713 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.59902, + "euclidean_distance": 3.77975, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.0714, + 0.11628, + 2.14854 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "5a89e430e6fb471189468fb44bbea75c", + "path": [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "refined_path": [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:35K3O9HUADGZ9S0N41EL2MA793OEFQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.67267, + 0.11628, + 5.96841 + ], + "start_rotation": [ + 0, + 0.54664, + 0, + -0.83737 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 15.63514, + "euclidean_distance": 14.87282, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.20787, + 0.11628, + -4.12288 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "947f02de64db4ccbbe220a9f9124a815", + "path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:351SEKWQS2K0NWE4UT7ERUCWMOHMD4", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.00725, + 0.11628, + -0.13673 + ], + "start_rotation": [ + 0, + 0.78332, + 0, + 0.62161 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 9.19236, + "euclidean_distance": 5.76016, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.7201, + 0.11628, + -1.60403 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "8b219cad487e4091b7c29146f0224729", + "path": [ + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:35DR22AR5FNDZGBBFB3BP26IP6R3XR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.15503, + 0.11628, + 1.72414 + ], + "start_rotation": [ + 0, + 0.96622, + 0, + 0.25771 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.53271, + "euclidean_distance": 3.1511, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.19537, + 0.11628, + -1.24336 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "bfd18e7fa8894c26a00f0cad55b31f76", + "path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "refined_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3PJ71Z61R65ROHFYPRJEL653KIJ91H", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.19523, + 2.91628, + -0.95445 + ], + "start_rotation": [ + 0, + 0.82251, + 0, + 0.56875 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.06159, + "euclidean_distance": 9.25086, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.61025, + 2.91628, + -4.88572 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "8f25ebb1c23d4fddb035eb336426d5fa", + "path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_7_newN_1" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1" + ], + "refined_path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3J4Q2Z4UT06QHHCN3HJL0RLM3A9WQ9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.16221, + 0.11628, + 2.97701 + ], + "start_rotation": [ + 0, + 0.99901, + 0, + 0.04455 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 13.3569, + "euclidean_distance": 12.32919, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.25927, + 0.11628, + -4.00791 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "bfd18e7fa8894c26a00f0cad55b31f76", + "path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679" + ], + "refined_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3A4NIXBJ782JL82W7A52A7K1YXNLMQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.52112, + 0.11628, + -1.13011 + ], + "start_rotation": [ + 0, + 0.84964, + 0, + -0.52737 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 6.76709, + "euclidean_distance": 3.08758, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.55175, + 0.11628, + -1.65443 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "1f7f69e3874c48b8b9caf0548240603f", + "path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + [ + "1f7f69e3874c48b8b9caf0548240603f" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3A1COHJ8NLY2ENH2MOGLDXQZXE9H8H", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.9394, + 0.11628, + 1.9317 + ], + "start_rotation": [ + 0, + 0.54531, + 0, + 0.83823 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 6.11453, + "euclidean_distance": 5.71951, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.11581, + 0.11628, + -3.68788 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "dde66ea80aca47968d3ec9c6e6ef3c0a", + "path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_204_newN_0", + "0_edge_102_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "8f5a767771964a56b3708d5415c446b2", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "refined_path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + [ + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:37XITHEISYCHFKLIZ58KTNOO7N6CR8", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.81493, + 0.11628, + 1.56532 + ], + "start_rotation": [ + 0, + 0.82523, + 0, + 0.56479 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 7.88766, + "euclidean_distance": 7.6506, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.19464, + 0.11628, + 3.46822 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "19c6928f8cc64d7aa2d18a48e3b4ee21", + "path": [ + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "instruction": "Locate the fireplace.", + "instr_encoding": [ + 101, + 12453, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "refined_path": [ + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3MYYFCXHJ5ANVQZPQF8QBLYTDWL4GO", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.03416, + 0.11628, + -4.21027 + ], + "start_rotation": [ + 0, + 0.97427, + 0, + -0.22537 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.84841, + "euclidean_distance": 9.1303, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 0.64511, + 0.11628, + 0.41208 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "1d8256878b534440b5ba54b31bfb210b" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3DPNQGW4LNILYXAJE2Z4ZUL4JOP647", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.52735, + 3.11628, + -3.26647 + ], + "start_rotation": [ + 0, + 0.93714, + 0, + 0.34896 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 13.93207, + "euclidean_distance": 11.90346, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.55426, + 0.11628, + 7.02154 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3EKVH9QME07AGSABKBOUCLYYJNY2D2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.18758, + 0.11628, + -4.77235 + ], + "start_rotation": [ + 0, + 0.54241, + 0, + -0.84012 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.06196, + "euclidean_distance": 4.65746, + "closest_goal_object_id": 412, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.2632, + 0.11628, + -1.29011 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "dbcf0a37c275473094e1160770291679", + "path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "AOWW3URQNRJ6U:33TIN5LC06DOENQ11GQNZTGD4DWY95", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.91682, + 2.91628, + 4.84708 + ], + "start_rotation": [ + 0, + 0.97499, + 0, + 0.22223 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.62503, + "euclidean_distance": 3.02831, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.19207, + 2.91628, + 1.83606 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "d97dee547dac432094720d127b49b347", + "path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + [ + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3EFE17QCRE8KX7WB0MMQUOQZQ9HSHA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.72435, + 0.11628, + 1.67408 + ], + "start_rotation": [ + 0, + 0.99825, + 0, + 0.05909 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 6.19513, + "euclidean_distance": 5.86953, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.0717, + 0.11628, + -4.07012 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "3c5c466d4f64452a9e87c545d918c4eb", + "path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_102_newN_0", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:358010RM5GWXBPDUZL9H8XY1TCBVXS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.77266, + 3.11628, + -5.23151 + ], + "start_rotation": [ + 0, + 0.68668, + 0, + -0.72696 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 16.03007, + "euclidean_distance": 13.94332, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.56929, + 0.11628, + 7.02558 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_73_newN_0", + "path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "9001b330086e4aa69799729560e6dca0", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "50629d10507840cba1ff155045d3f76b", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa" + ], + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + [ + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0" + ], + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + [ + "db59566f6465453d88a27b5bcb19b096" + ], + "50629d10507840cba1ff155045d3f76b", + [ + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786" + ], + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3L4PIM1GQVJUINMNVXQ9QEG6UPJRY0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.04547, + 2.95203, + 1.79549 + ], + "start_rotation": [ + 0, + 0.5904, + 0, + 0.80711 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.10732, + "euclidean_distance": 1.12266, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.36816, + 2.91628, + 2.82884 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + [ + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:34Z02EIMIUGA173UREKVY1N5P920TV", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.47991, + 0.11628, + -5.30976 + ], + "start_rotation": [ + 0, + 0.99982, + 0, + -0.01901 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 5.45022, + "euclidean_distance": 5.04782, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.14794, + 0.11628, + -1.82034 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "dbcf0a37c275473094e1160770291679", + "path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3QJOXOW4XLU5F2S4QOIYXCUHP45EMN", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.24703, + 2.99446, + 1.77435 + ], + "start_rotation": [ + 0, + 0.09623, + 0, + -0.99536 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 11.49624, + "euclidean_distance": 4.54551, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.93149, + 0.11628, + 3.15302 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ], + "refined_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:37TD41K0AJCTGZLVEU8PJXTKWD5SC7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.5018, + 0.11628, + -1.45259 + ], + "start_rotation": [ + 0, + 0.94209, + 0, + 0.33536 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.24049, + "euclidean_distance": 5.13736, + "closest_goal_object_id": 214, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.84618, + 0.11628, + 3.56146 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "84928b00abef4a8489bcaa2ce410d1e5", + "path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + [ + "84928b00abef4a8489bcaa2ce410d1e5" + ], + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A75XDPFNICR3T:39GXDJN2OVH7WOCMRDXPSYH822XV8D", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.02361, + 2.61517, + -0.32891 + ], + "start_rotation": [ + 0, + 0.30016, + 0, + 0.95389 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.65442, + "euclidean_distance": 4.36533, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.97013, + 0.11628, + 3.2124 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "9001b330086e4aa69799729560e6dca0", + "path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3LO69W1SU5GJTY6AW777X2042EKGLS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.47656, + 0.11628, + -1.76427 + ], + "start_rotation": [ + 0, + 0.51335, + 0, + -0.85818 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.15339, + "euclidean_distance": 2.32384, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.72958, + 0.11628, + -4.11599 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "8b55e4f095374cfe8ddb0fda0f0dfa02", + "path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d" + ], + "refined_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3FPRZHYEP0ALVR6GFW2T1H9W63S3V8", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.53453, + 0.11628, + -3.72074 + ], + "start_rotation": [ + 0, + 0.05222, + 0, + -0.99864 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.08014, + "euclidean_distance": 2.08015, + "closest_goal_object_id": 435, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.74311, + 0.11628, + -1.73164 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_146_newN_0", + "path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3RJSC4XJ12X8G5S4QI2XVLHQSMD50J", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.63684, + 3.11628, + -3.70844 + ], + "start_rotation": [ + 0, + 0.5405, + 0, + -0.84134 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.08521, + "euclidean_distance": 9.06438, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.7863, + 2.91628, + 1.84159 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A16184N1RO5OJV:3ZWFC4W1UWAOIW5SQ7YL1T9R40XFRL", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.29554, + 0.11628, + -1.06712 + ], + "start_rotation": [ + 0, + 0.99794, + 0, + 0.06408 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 12.83259, + "euclidean_distance": 4.61572, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.29885, + 0.11628, + 3.46839 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "0_edge_2_newN_0", + "path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ], + "instruction": "Find the fireplace.", + "instr_encoding": [ + 101, + 2424, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ], + "refined_path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3DYGAII7PNB0X8FMRV5Q8XDQAGQPQX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.34593, + 0.11628, + 4.99018 + ], + "start_rotation": [ + 0, + 0.39262, + 0, + 0.9197 + ], + "object_category": "table", + "info": { + "geodesic_distance": 7.2392, + "euclidean_distance": 3.86157, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.07728, + 0.11628, + 2.06618 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "2ea5348654d24115bba3dcdb21fa655e", + "path": [ + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "refined_path": [ + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3L2IS5HSFCLSMGAQSPC3E95K05LNUJ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.70085, + 0.11628, + -0.01485 + ], + "start_rotation": [ + 0, + 0.54255, + 0, + -0.84002 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 3.55342, + "euclidean_distance": 3.22548, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.39918, + 0.11628, + 3.19712 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "181c56d99ddd42ba8d4be09dbb135381", + "path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:32EYX73OY2CD1E2ILWTKNTAUHBDRUC", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.13298, + 2.91628, + 2.52174 + ], + "start_rotation": [ + 0, + 0.99813, + 0, + -0.06109 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.8895, + "euclidean_distance": 8.17365, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.27777, + 2.91628, + 1.83332 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "4bb7642a8af44f97acb81190589a3451", + "path": [ + "4bb7642a8af44f97acb81190589a3451", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "4bb7642a8af44f97acb81190589a3451", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "4bb7642a8af44f97acb81190589a3451", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + [ + "4bb7642a8af44f97acb81190589a3451" + ], + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:3483FV8BEGMBVJVWAOGG6FO6Z4Q62W", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.10668, + 2.91628, + -4.58297 + ], + "start_rotation": [ + 0, + 0.9702, + 0, + 0.24229 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.98113, + "euclidean_distance": 4.73768, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.66841, + 2.91628, + -1.35816 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "0_edge_7_newN_1", + "path": [ + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930" + ], + "refined_path": [ + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930" + ] + }, + { + "episode_id": "APGX2WZ59OWDN:3Z4AIRP3C8GHPDXWS7PS19RLRLNX11", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.54712, + 0.11628, + 2.57844 + ], + "start_rotation": [ + 0, + 0.85755, + 0, + -0.5144 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.46674, + "euclidean_distance": 4.17773, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 0.66992, + 0.11628, + 2.26084 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "cdafd704291841daaa57ce008a95a06a", + "path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3VAR3R6G1R4C643PQ1BBX6NZSFJ8O3", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.84861, + 0.11628, + -0.53504 + ], + "start_rotation": [ + 0, + 0.45893, + 0, + 0.88847 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 14.08116, + "euclidean_distance": 3.94762, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.26082, + 2.91628, + 1.92556 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "0_edge_26_newN_1", + "path": [ + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + [ + "0_edge_26_newN_1" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a" + ], + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + [ + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "AOWW3URQNRJ6U:3U4J9857OGEONW9XCREJDMR6ODXB7W", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.48536, + 0.11628, + 3.29143 + ], + "start_rotation": [ + 0, + 0.55722, + 0, + 0.83037 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 10.31673, + "euclidean_distance": 4.20922, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.32168, + 2.91628, + 1.88468 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "32fb55017460457cbe0b8d1790a54786", + "path": [ + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + [ + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3XUHV3NRVM1JR5Y0OQ9I1DG8VPB5H8", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.70583, + 3.09105, + 1.91608 + ], + "start_rotation": [ + 0, + 0.70441, + 0, + 0.7098 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 11.95836, + "euclidean_distance": 4.90525, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.98346, + 0.11628, + 3.17683 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "151812f86ba842afac3c1778a479610d", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2" + ], + "refined_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3OHYZ19UGE8QPSW4NZVPTXTVWQGOAA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.52428, + 2.91628, + -0.59603 + ], + "start_rotation": [ + 0, + 0.79226, + 0, + 0.61018 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 6.57929, + "euclidean_distance": 6.12735, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.69799, + 2.91628, + -0.69027 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "7cae5e5f8adf444d829c95b4a4412ffd", + "path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:37TD41K0AJCTGZLVEU8PJXTKWG8CS0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.60122, + 0.11628, + -4.76238 + ], + "start_rotation": [ + 0, + 0.47585, + 0, + -0.87953 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.02051, + "euclidean_distance": 11.60292, + "closest_goal_object_id": 402, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.26102, + 0.11628, + 6.70369 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "0_edge_210_newN_0", + "path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_146_newN_2", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_124_newN_0" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0" + ], + "refined_path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_146_newN_2", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "0_edge_124_newN_0" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3S3AMIZX3W8NEA2DH4D0OY7JCEMDCC", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.20044, + 0.11628, + 2.8385 + ], + "start_rotation": [ + 0, + 0.03328, + 0, + 0.99945 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 8.92979, + "euclidean_distance": 4.5402, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.47139, + 2.91628, + -0.67616 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_102_newN_0", + "path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3ERET4BTVOCTUI1KX1PWQL11PMQK9S", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.97469, + 3.11628, + -4.65005 + ], + "start_rotation": [ + 0, + 0.02113, + 0, + 0.99978 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.96388, + "euclidean_distance": 4.10109, + "closest_goal_object_id": 79, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.13327, + 2.91628, + -4.03692 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "0_edge_50_newN_0", + "6a876090f6f34eb59bc03a68df7137b5" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_50_newN_0", + "6a876090f6f34eb59bc03a68df7137b5" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_50_newN_0", + "6a876090f6f34eb59bc03a68df7137b5" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:39L1G8WVWSU59FQI8II4UT2H03R31I", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.23474, + 2.91628, + 2.99719 + ], + "start_rotation": [ + 0, + 0.98294, + 0, + 0.18394 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.38182, + "euclidean_distance": 4.40936, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.46522, + 2.91628, + -1.12517 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "151812f86ba842afac3c1778a479610d", + "path": [ + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d" + ], + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3GNA64GUZG7W4YX37GWCAR89J9L5Q9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.3794, + 3.11628, + -4.08702 + ], + "start_rotation": [ + 0, + 0.54685, + 0, + 0.83723 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.87567, + "euclidean_distance": 7.35411, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.05514, + 2.91628, + -0.90555 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3TVSS0C0E3339X4FKLDG5WW89NVWT6", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.54947, + 3.11628, + -4.16036 + ], + "start_rotation": [ + 0, + 0.99995, + 0, + -0.00969 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.46018, + "euclidean_distance": 4.21471, + "closest_goal_object_id": 129, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -2.52642, + 2.91628, + -0.07514 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:37Z929RLGBBA2GN60G3F87TOK3LTSF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.13452, + 2.91628, + 1.25947 + ], + "start_rotation": [ + 0, + 0.92104, + 0, + 0.38947 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 14.39837, + "euclidean_distance": 7.85359, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.55984, + 0.11628, + 7.05901 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "4bb7642a8af44f97acb81190589a3451", + "path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "AEWGY34WUIA32:3TOK3KHVJVL86QY6GWJ5J6R5VOKO75", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.72237, + 3.09453, + 1.42949 + ], + "start_rotation": [ + 0, + 0.68517, + 0, + 0.72839 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 12.96446, + "euclidean_distance": 7.42373, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.17544, + 0.11628, + 2.92755 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:32XVDSJFP10DKMGOX4NXVBLSPA8M21", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.90363, + 0.11628, + -3.70052 + ], + "start_rotation": [ + 0, + 0.55327, + 0, + 0.833 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 13.35182, + "euclidean_distance": 11.2548, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.62424, + 0.11628, + 7.07241 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "674b3b6705604a4c8b89182edee11e54", + "path": [ + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3IXQG4FA2V1S1FXQROC3RIICJ4U9BH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.03789, + 2.91628, + 6.29608 + ], + "start_rotation": [ + 0, + 0.55018, + 0, + -0.83505 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.50564, + "euclidean_distance": 4.18759, + "closest_goal_object_id": 25, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.43322, + 2.91628, + 2.04765 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "eba5ca774e2a41dfa6e22fbff7fe66d2", + "path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3QXNC7EIPKYRHSUGT8FE71MTV4J90S", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.28835, + 0.11628, + 3.41197 + ], + "start_rotation": [ + 0, + 0.97185, + 0, + 0.23561 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.40943, + "euclidean_distance": 4.6274, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.29594, + 0.11628, + -1.26708 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "0_edge_207_newN_0", + "path": [ + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0" + ], + "refined_path": [ + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3KMS4QQVK4T2VSSX0NPO0HND982KFW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.547, + 2.91628, + 3.37077 + ], + "start_rotation": [ + 0, + 0.94035, + 0, + -0.3402 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 13.97966, + "euclidean_distance": 3.29936, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.12777, + 0.11628, + 2.68393 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "0_edge_161_newN_0", + "path": [ + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3F0BG9B9MRQK0428MJS3LXP79MJY72", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.22395, + 2.91628, + -1.25021 + ], + "start_rotation": [ + 0, + 0.9993, + 0, + -0.03749 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.28362, + "euclidean_distance": 4.35396, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.27691, + 2.91628, + 1.87472 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "3532b1e7ea1646848b710936d4696a5d", + "path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3MAOD8E57SDK3K4LXUNQYG4O6L1NXI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.17449, + 0.11628, + -1.80279 + ], + "start_rotation": [ + 0, + 0.93577, + 0, + 0.3526 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 6.95861, + "euclidean_distance": 5.99454, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.61916, + 0.11628, + 3.63465 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0cd0dd452a324496afd701e1c4b2e973", + "path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "0_edge_82_newN_0", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "refined_path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3WR9XG3T65E42XOOXC4W58L0HQQ749", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.88251, + 2.91628, + 3.1805 + ], + "start_rotation": [ + 0, + 0.48027, + 0, + 0.87712 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 13.00794, + "euclidean_distance": 7.66512, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.97362, + 2.91628, + -4.17826 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "1e9bcf7676d44f2691efdeadc0d88d76", + "path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + "0_edge_161_newN_0", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b" + ], + "refined_path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + [ + "1e9bcf7676d44f2691efdeadc0d88d76" + ], + "0_edge_161_newN_0", + [ + "1e9bcf7676d44f2691efdeadc0d88d76" + ], + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + [ + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314" + ], + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b" + ] + }, + { + "episode_id": "A16184N1RO5OJV:3TMFV4NEPAHKBDCRHN2LE00M9ZOW8P", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.46905, + 0.11628, + 5.6374 + ], + "start_rotation": [ + 0, + 0.06354, + 0, + 0.99798 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.83857, + "euclidean_distance": 3.31803, + "closest_goal_object_id": 428, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.13821, + 0.11628, + 3.43348 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "e5f8d864ab7545d3bae0e56a527041ec", + "path": [ + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d" + ], + "refined_path": [ + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + [ + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3TPWUS5F8B4MNG24YZIQGMW5MK1CWE", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.00831, + 0.11628, + -3.63885 + ], + "start_rotation": [ + 0, + 0.77437, + 0, + 0.63274 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 11.59627, + "euclidean_distance": 10.7934, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.56274, + 0.11628, + 6.99368 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_82_newN_0", + "path": [ + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33M4IA01QI45IIWDQ147709Y8TAXRN", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.42053, + 2.91628, + -0.00781 + ], + "start_rotation": [ + 0, + 0.66664, + 0, + 0.74538 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.90819, + "euclidean_distance": 9.61855, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.80022, + 2.91628, + 1.80987 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "080a334ceb144054b12c4ed7847b8f71", + "path": [ + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:34Q075JO1ZG9SNRLPV0LSV4AUEL015", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.72961, + 2.91628, + -0.97641 + ], + "start_rotation": [ + 0, + 0.47782, + 0, + -0.87846 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.25529, + "euclidean_distance": 4.51475, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.20035, + 1.3643, + 1.25557 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "addb4d69f82243fb9a38c4d615651ba7", + "path": [ + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "743e6d37beae4b6482a43ae41e634e67", + "0_edge_122_newN_0", + "080a334ceb144054b12c4ed7847b8f71", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "743e6d37beae4b6482a43ae41e634e67", + "0_edge_122_newN_0", + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "refined_path": [ + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7" + ], + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0" + ], + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "743e6d37beae4b6482a43ae41e634e67", + "0_edge_122_newN_0", + [ + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a" + ], + "080a334ceb144054b12c4ed7847b8f71", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3EFE17QCRE8KX7WB0MMQUOQ098IHSJ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.74049, + 0.11628, + -4.44534 + ], + "start_rotation": [ + 0, + 0.97289, + 0, + -0.23128 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.87827, + "euclidean_distance": 9.00645, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 0.66577, + 0.11628, + 0.43841 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_146_newN_2", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_124_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + [ + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b" + ], + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_146_newN_2", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "0_edge_124_newN_0", + [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ], + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + [ + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + [ + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3TXMY6UCAGRH3J6IMQJKOXEJBPJQCC", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.91506, + 0.11628, + 5.97451 + ], + "start_rotation": [ + 0, + 0.50699, + 0, + 0.86195 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.32989, + "euclidean_distance": 3.8759, + "closest_goal_object_id": 428, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.93256, + 0.11628, + 3.35236 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_153_newN_2", + "path": [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:37M28K1J0SGCOH577M3KL1C8J5GAJP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.23406, + 2.91628, + 3.2048 + ], + "start_rotation": [ + 0, + 0.97599, + 0, + 0.2178 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 3.22914, + "euclidean_distance": 1.63927, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.14143, + 2.91628, + 1.92292 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "0_edge_33_newN_1", + "path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3R6BYFZZP9F8FSR4Z64DQBVERNNXF0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.48439, + 2.91628, + -1.46565 + ], + "start_rotation": [ + 0, + 0.90615, + 0, + -0.42296 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 4.80198, + "euclidean_distance": 4.00038, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.95907, + 2.91628, + 1.76531 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "5f4fd3bd58144211a8617caa5570e40c", + "path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:37M28K1J0SGCOH577M3KL1C9X3CAJX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.74247, + 0.11628, + 2.59751 + ], + "start_rotation": [ + 0, + 0.26174, + 0, + 0.96514 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.86386, + "euclidean_distance": 3.6573, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.08173, + 0.11628, + 2.49584 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "0_edge_102_newN_0", + "path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:3HL8HNGX474IEW96WQYZA89XY7AF93", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.04843, + 2.91628, + -5.76259 + ], + "start_rotation": [ + 0, + 0.91314, + 0, + 0.40765 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 6.00196, + "euclidean_distance": 5.0913, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.56988, + 2.91628, + -0.66733 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "8388153c198e4e4fb75cd8d0fd96d8a2", + "path": [ + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:3DEL4X4EL8OEFJ8Z4WW1FW2VEJEXYN", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.13726, + 0.11628, + -0.15575 + ], + "start_rotation": [ + 0, + 0.06729, + 0, + 0.99773 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 14.76829, + "euclidean_distance": 12.9811, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.20144, + 0.11628, + -3.98577 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "ed7387d968874f4bbe512395b64405af", + "path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b" + ], + "refined_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3T3IWE1XG8QYP08T8CEAD7EMLP9QTX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.27024, + 3.11628, + -4.61906 + ], + "start_rotation": [ + 0, + 0.95252, + 0, + 0.30448 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.677, + "euclidean_distance": 7.40296, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.22329, + 1.27358, + 1.37979 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3LWJHTCVCEPO6VQSDS9LW3ZMB6AQFX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.07492, + 0.11628, + -3.19231 + ], + "start_rotation": [ + 0, + 0.50336, + 0, + 0.86408 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.20544, + "euclidean_distance": 6.37118, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.36634, + 0.11628, + 3.24208 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "370411a65c3d4dc8bd475805ad0f4195", + "path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:36V4Q8R5ZM3UC5I9ZFDYRTJV87OMQ2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.38525, + 0.11628, + 2.80042 + ], + "start_rotation": [ + 0, + 0.89417, + 0, + 0.44772 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 15.558, + "euclidean_distance": 14.24439, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.29748, + 0.11628, + -3.56446 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "b14dbfea048449aa8b8934cbf491a10a", + "path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "0_edge_204_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "refined_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ], + "0_edge_204_newN_1", + [ + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:30H4UDGLT4L9CTHUZ2Y9ROTKKBTMPH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.91938, + 0.11628, + -0.38011 + ], + "start_rotation": [ + 0, + 0.99734, + 0, + -0.07293 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 8.34304, + "euclidean_distance": 6.22307, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.76378, + 0.11628, + -2.77689 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "8b219cad487e4091b7c29146f0224729", + "path": [ + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3R0T90IZ1UFQQUC4JUE8UJAH82JCGF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.46142, + 2.91628, + 2.98907 + ], + "start_rotation": [ + 0, + 0.90215, + 0, + -0.43143 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.89629, + "euclidean_distance": 6.03743, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.12517, + 2.91628, + -0.99539 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_77_newN_1", + "path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "refined_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3PJ71Z61R65ROHFYPRJEL653XSZ19M", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.06034, + 0.11628, + 2.72794 + ], + "start_rotation": [ + 0, + 0.88924, + 0, + -0.45744 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.56003, + "euclidean_distance": 4.18652, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.1965, + 2.91628, + -0.34474 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "dde66ea80aca47968d3ec9c6e6ef3c0a", + "path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3NVC2EB65S22ZL1LK7PD8GDR7PLY3Y", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.18626, + 2.01396, + 0.5157 + ], + "start_rotation": [ + 0, + 0.06516, + 0, + -0.99788 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.76782, + "euclidean_distance": 2.98977, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.07449, + 0.11628, + 2.54351 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "c4fc538718cc4918884d2040ce523a5f", + "path": [ + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "8f25ebb1c23d4fddb035eb336426d5fa", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f" + ], + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3VNL7UK1XHM1YBIKUW3G18A9SFFFT7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.35407, + 0.11628, + -0.10288 + ], + "start_rotation": [ + 0, + 0.99366, + 0, + -0.11243 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 14.9735, + "euclidean_distance": 13.20364, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.12192, + 0.11628, + -4.09037 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "ed7387d968874f4bbe512395b64405af", + "path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "refined_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + [ + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3OXV7EAXLGT0G1RFEOULPPTY5CQ63V", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.35286, + 2.91628, + 5.86478 + ], + "start_rotation": [ + 0, + 0.56436, + 0, + 0.82553 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 5.38803, + "euclidean_distance": 4.12948, + "closest_goal_object_id": 37, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.35243, + 2.91628, + 1.82762 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "0_edge_30_newN_0", + "path": [ + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:31QNSG6A5TW5LYBQ9FU9MK142VQ874", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.02273, + 2.3499, + 0.05189 + ], + "start_rotation": [ + 0, + 0.59995, + 0, + 0.80004 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 4.35814, + "euclidean_distance": 3.68312, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.32553, + 2.91628, + -1.05164 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "9001b330086e4aa69799729560e6dca0", + "path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3WRFBPLXRCR8NMX7D5G2R0FK0CU3N1", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.22589, + 2.91628, + 6.2923 + ], + "start_rotation": [ + 0, + 0.41679, + 0, + -0.909 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 14.66879, + "euclidean_distance": 6.7946, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.14279, + 0.11628, + 2.99616 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "0_edge_30_newN_0", + "path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3J4Q2Z4UT06QHHCN3HJL0RLM64GQW1", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.76424, + 2.91628, + 3.59394 + ], + "start_rotation": [ + 0, + 0.9945, + 0, + 0.10472 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.07467, + "euclidean_distance": 5.25128, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.29422, + 1.25275, + 1.4289 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "0bcfce0d81294b7e84a7eed52cb04a4e", + "path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "refined_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + [ + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3SKEMFQBZ58TGDIAS9JIQP6Q83V8KR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.20138, + 2.91628, + -0.6157 + ], + "start_rotation": [ + 0, + 0.91807, + 0, + 0.39642 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.71138, + "euclidean_distance": 3.84831, + "closest_goal_object_id": 87, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.31194, + 2.91628, + -4.33295 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "0_edge_110_newN_0", + "path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71" + ], + "refined_path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3HQUKB7LNHHV7YIVPSARQAJXHZMHH2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.39661, + 0.11628, + -2.66313 + ], + "start_rotation": [ + 0, + 0.37668, + 0, + -0.92635 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 4.97603, + "euclidean_distance": 4.01737, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.16475, + 0.11628, + -3.77851 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "8b8c58d65b3049ef8a844f237096b06d", + "path": [ + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_124_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "refined_path": [ + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "0_edge_124_newN_0", + [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ], + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3IHR8NYAM94T83SOTYYD5UCLHKS4P9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.95253, + 2.91628, + -0.02629 + ], + "start_rotation": [ + 0, + 0.52525, + 0, + -0.85095 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 10.3171, + "euclidean_distance": 5.58453, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.21799, + 0.11628, + 3.53227 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "625eb179629b45f280c01d3f6ec74b4f", + "path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Locate the fireplace.", + "instr_encoding": [ + 101, + 12453, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3SEPORI8WP22OWABP8669V0ZJPPZAM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.63046, + 0.11628, + -4.69657 + ], + "start_rotation": [ + 0, + 0.41625, + 0, + 0.90925 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.96482, + "euclidean_distance": 4.94977, + "closest_goal_object_id": 267, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.97258, + 0.11628, + -0.88577 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "dbcf0a37c275473094e1160770291679", + "path": [ + "dbcf0a37c275473094e1160770291679", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "dbcf0a37c275473094e1160770291679", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "dbcf0a37c275473094e1160770291679", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "AM7FYVGVOEP66:3VBEN272MM26XB10GG489OEZU9OSGG", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.90271, + 0.11628, + -0.5674 + ], + "start_rotation": [ + 0, + 0.81046, + 0, + -0.5858 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.9335, + "euclidean_distance": 6.4856, + "closest_goal_object_id": 422, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.38174, + 0.11628, + -0.43865 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "8b55e4f095374cfe8ddb0fda0f0dfa02", + "path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "0_edge_210_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3DY46V3X3RL7BCE5NO89CGDIQGF55M", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.07508, + 2.91628, + -7.20694 + ], + "start_rotation": [ + 0, + 0.2461, + 0, + -0.96925 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 11.94734, + "euclidean_distance": 10.75051, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.91805, + 0.11628, + 3.2381 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "f1b5f89d2b0a46449f374351c1579c80", + "path": [ + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "0_edge_134_newN_0", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A74PT3GRDMEZ:3XXU1SWE8OY5MB4LLETE3WXD1KF0A8", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.80534, + 0.11628, + -4.563 + ], + "start_rotation": [ + 0, + 0.73047, + 0, + -0.68294 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.62406, + "euclidean_distance": 8.79521, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.28503, + 0.11628, + -1.85421 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "4e1ad142e5844d21a376040600184d9a", + "path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:39ASUFLU6ZAG9ER84VK78TAFW33XEU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.50749, + 0.11628, + -3.98156 + ], + "start_rotation": [ + 0, + 0.71955, + 0, + 0.69444 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.6736, + "euclidean_distance": 2.15398, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.41833, + 0.11628, + -4.5226 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:36TFCYNS46DSTOIAUWSDTW7SON2XHP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.02352, + 0.11628, + 0.48461 + ], + "start_rotation": [ + 0, + 0.02876, + 0, + 0.99959 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 13.17588, + "euclidean_distance": 11.24042, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.21474, + 0.11628, + -4.21967 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "181c56d99ddd42ba8d4be09dbb135381", + "path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3RXCAC0YITSOERMR2IY3SXEYFIWG8M", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.945, + 0.11628, + 1.72786 + ], + "start_rotation": [ + 0, + 0.906, + 0, + -0.42327 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 9.82617, + "euclidean_distance": 9.14126, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.11066, + 0.11628, + -3.73338 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "dfa246b0d1fe4f08953b20151cf951c3", + "path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "refined_path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ] + }, + { + "episode_id": "ADEMAGRRRGSPT:3AMYWKA6YDPP2QK1XMEDDSR8KXN6OX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.58835, + 0.11628, + 5.60902 + ], + "start_rotation": [ + 0, + 0.85809, + 0, + 0.5135 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.84123, + "euclidean_distance": 4.98147, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.27926, + 2.91628, + 1.96617 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "c0baa7759b714fa794ca1fabbd96a96b", + "path": [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + [ + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096" + ], + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + [ + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A31BA1WLSWUSY1:34J10VATJH18GMSIE0F6Z0CEBPTQIH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.31418, + 0.11628, + 2.79056 + ], + "start_rotation": [ + 0, + 0.07042, + 0, + -0.99752 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 6.53328, + "euclidean_distance": 5.64863, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.6051, + 0.11628, + 7.07712 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "45af7750dab04ee9931d8c9a1ce9ee7d", + "path": [ + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:34V1S5K3GU4MV3GVVXVVG2WJRGF69Z", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.69135, + 0.11628, + 0.84504 + ], + "start_rotation": [ + 0, + 1, + 0, + -0.00233 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 14.5712, + "euclidean_distance": 12.68464, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.61838, + 0.11628, + 3.74888 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_126_newN_1", + "path": [ + "0_edge_126_newN_1", + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_126_newN_1", + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ], + "refined_path": [ + "0_edge_126_newN_1", + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + [ + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3B837J3LDQZXM1AEWRYK8SS5D9GRSP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.4488, + 0.11628, + -4.93145 + ], + "start_rotation": [ + 0, + 0.11759, + 0, + -0.99306 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.16663, + "euclidean_distance": 3.90005, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.63438, + 0.11628, + -1.59093 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "0_edge_210_newN_0", + "path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + [ + "674b3b6705604a4c8b89182edee11e54" + ], + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3HMIGG0U4N9O0I7RWOK9ZXL2N6U8Y7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.11641, + 3.11628, + -4.78525 + ], + "start_rotation": [ + 0, + 0.59137, + 0, + -0.8064 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.81159, + "euclidean_distance": 7.61979, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.19549, + 1.21332, + 1.47003 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3D4CH1LGECWOSW517A4HST992L7G91", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.16241, + 2.91628, + -1.75269 + ], + "start_rotation": [ + 0, + 0.99221, + 0, + -0.12455 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.33311, + "euclidean_distance": 5.21334, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.12476, + 0.11628, + 2.66246 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "53672af2c15047818f2ead24a2370930", + "path": [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3PJ71Z61R65ROHFYPRJEL653KN691E", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.18733, + 3.11628, + -2.97993 + ], + "start_rotation": [ + 0, + 0.92455, + 0, + 0.38105 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 14.04019, + "euclidean_distance": 11.52885, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.23925, + 0.11628, + 3.42084 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d" + ], + "instruction": "Navigate to the fireplace.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3UN61F00HYSWGZC3KVLCFHIDZTAR5X", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.27312, + 0.11628, + -0.07811 + ], + "start_rotation": [ + 0, + 0.57841, + 0, + 0.81575 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.63853, + "euclidean_distance": 5.36172, + "closest_goal_object_id": 197, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 1.27606, + 0.11628, + 5.30805 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "ed7387d968874f4bbe512395b64405af", + "path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ], + "refined_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3SITXWYCNXCI2BFOU4IH7L4UQ7SBX9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.97918, + 2.91628, + 1.62195 + ], + "start_rotation": [ + 0, + 0.62082, + 0, + -0.78395 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.21378, + "euclidean_distance": 6.30414, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.32702, + 2.91628, + 1.8538 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "d339130a5534437da266a71435143314", + "path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A3F0NFNLOLFJT0:31UV0MXWNSFJN09KU8R31PHMEKWI51", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.47996, + 0.11628, + 0.32492 + ], + "start_rotation": [ + 0, + 0.25743, + 0, + -0.9663 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.17289, + "euclidean_distance": 7.05249, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.3403, + 0.11628, + -1.92149 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "8b219cad487e4091b7c29146f0224729", + "path": [ + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "dfa246b0d1fe4f08953b20151cf951c3", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "dfa246b0d1fe4f08953b20151cf951c3", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "dfa246b0d1fe4f08953b20151cf951c3", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3M68NM076JASZ3CHPEVH7NWEEP9R6O", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.6964, + 2.91628, + -1.17838 + ], + "start_rotation": [ + 0, + 0.21108, + 0, + 0.97747 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.17797, + "euclidean_distance": 3.06587, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.14477, + 1.23601, + 1.44517 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "3532b1e7ea1646848b710936d4696a5d", + "path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_30_newN_1", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "refined_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + [ + "d97dee547dac432094720d127b49b347" + ], + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + [ + "32fb55017460457cbe0b8d1790a54786" + ], + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3ZWFC4W1UWAOIW5SQ7YL1T9QO0BFRH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.46476, + 2.91628, + -6.97961 + ], + "start_rotation": [ + 0, + 0.548, + 0, + 0.83648 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 15.30389, + "euclidean_distance": 14.43922, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.56826, + 0.11628, + 7.03129 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "e5bdf109ceb745f1bf4d66447afa02da", + "path": [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_169_newN_1", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_9_newN_0", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3BRY2LVVQGP3H:3QY7M81QH9PPGZDRI4RCCPAWEBW7KD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.25348, + 0.11628, + -1.92952 + ], + "start_rotation": [ + 0, + 0.8528, + 0, + -0.52224 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.87644, + "euclidean_distance": 2.24355, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.15318, + 0.11628, + -4.17874 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "1f7f69e3874c48b8b9caf0548240603f", + "path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b" + ], + "refined_path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3IAS3U3I0HJH1VCR6FXOHVAYD5VB2G", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.41649, + 0.11628, + 5.30278 + ], + "start_rotation": [ + 0, + 0.76763, + 0, + 0.64089 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.34599, + "euclidean_distance": 3.29887, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.11215, + 0.11628, + 2.16951 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "947f02de64db4ccbbe220a9f9124a815", + "path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "refined_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:388U7OUMF94XLSQ2NPF0YMMNLDAR0C", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.71987, + 2.91628, + -3.41747 + ], + "start_rotation": [ + 0, + 0.10147, + 0, + 0.99484 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.36423, + "euclidean_distance": 7.77986, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.18878, + 0.11628, + 2.97343 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "0_edge_9_newN_0", + "path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + [ + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:34MAJL3QP6QM1EN1V016SR9K9RV43V", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.73864, + 0.11628, + -2.99351 + ], + "start_rotation": [ + 0, + 0.1134, + 0, + -0.99355 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 11.87986, + "euclidean_distance": 8.54977, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.14007, + 0.11628, + -4.13279 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "370411a65c3d4dc8bd475805ad0f4195", + "path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3634BBTX0QXBPX290K4CN180KS8IFT", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.57699, + 2.91628, + 3.20318 + ], + "start_rotation": [ + 0, + 0.55777, + 0, + 0.82999 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.06868, + "euclidean_distance": 6.8594, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.0302, + 2.91628, + -0.99611 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0cb5fac1789e42d5a99cc87f4ef8cb35", + "path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3VZLGYJEYNDEK9I40IYKT3BX41BXZ3", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.25017, + 3.11628, + -3.93109 + ], + "start_rotation": [ + 0, + 0.99126, + 0, + -0.1319 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.6314, + "euclidean_distance": 8.10399, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.03763, + 0.11628, + 2.51437 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + [ + "8f5a767771964a56b3708d5415c446b2" + ] + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3PWWM24LHU1YZXEK33DEQTKX5RR82F", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.68356, + 0.11628, + 4.47149 + ], + "start_rotation": [ + 0, + 0.60374, + 0, + 0.79718 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 11.48911, + "euclidean_distance": 4.63028, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.25935, + 2.91628, + 1.8823 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "0_edge_204_newN_1", + "path": [ + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_210_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "dfa246b0d1fe4f08953b20151cf951c3", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "0_edge_207_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "dfa246b0d1fe4f08953b20151cf951c3", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "dfa246b0d1fe4f08953b20151cf951c3", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0" + ], + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3OS46CRSLH2KSATYYY0R8KLHZUSV6P", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.02772, + 0.11628, + -3.48845 + ], + "start_rotation": [ + 0, + 0.86791, + 0, + -0.49672 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.668, + "euclidean_distance": 6.96946, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.48985, + 0.11628, + 3.06889 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_80_newN_0", + "path": [ + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "0_edge_82_newN_0", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + [ + "0_edge_80_newN_0" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b" + ], + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679" + ], + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + ] + }, + { + "episode_id": "A75XDPFNICR3T:3SNLUL3WO6Q2YG75GCWO1H1V8VMUL8", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.25761, + 1.95752, + 0.46246 + ], + "start_rotation": [ + 0, + 0.43056, + 0, + -0.90256 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 6.98472, + "euclidean_distance": 5.33711, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.28246, + 0.11628, + 3.40229 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "c4fc538718cc4918884d2040ce523a5f", + "path": [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Navigate to the fireplace.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A2KOR4003SVNC5:32KTQ2V7RFIOK61NID2C5YT6USRM9P", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.69503, + 2.91628, + -1.04549 + ], + "start_rotation": [ + 0, + 0.12737, + 0, + -0.99186 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.49488, + "euclidean_distance": 4.72849, + "closest_goal_object_id": 79, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.03805, + 2.91628, + -4.11154 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "addb4d69f82243fb9a38c4d615651ba7", + "path": [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "5635036d3bfb483eac283af7bb5ac986", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "12bce16a8b8e424bba0742b82a46352b" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + [ + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + [ + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + ] + }, + { + "episode_id": "A75XDPFNICR3T:3BXQMRHWK11M4YPQGOX31UGK8NHUMP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.48638, + 0.11628, + -2.37199 + ], + "start_rotation": [ + 0, + 0.59093, + 0, + 0.80672 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.78602, + "euclidean_distance": 5.56675, + "closest_goal_object_id": 319, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.52565, + 0.11628, + -4.76395 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "370411a65c3d4dc8bd475805ad0f4195", + "path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "e5e6c99e38014827b50ad33cd22e3c9d", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "refined_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1" + ], + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + [ + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + [ + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:33C7UALJVN1RACWOKZD0LAARZZK18A", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.82393, + 0.11628, + 5.6025 + ], + "start_rotation": [ + 0, + 0.2519, + 0, + 0.96775 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 12.32368, + "euclidean_distance": 10.62332, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.67102, + 0.11628, + 3.81952 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "947f02de64db4ccbbe220a9f9124a815", + "path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679" + ], + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54" + ], + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3BDCF01OGZXJFPRAQDTD427876JLYW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.12564, + 2.91628, + 5.77114 + ], + "start_rotation": [ + 0, + 0.71182, + 0, + -0.70236 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 4.38482, + "euclidean_distance": 2.6428, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.53224, + 2.91628, + 3.12932 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "81df67c58e324caca152f29eb64f6993", + "path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "0_edge_33_newN_1" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "refined_path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + [ + "81df67c58e324caca152f29eb64f6993" + ], + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2" + ], + "5635036d3bfb483eac283af7bb5ac986", + [ + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986" + ], + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + [ + "d97dee547dac432094720d127b49b347" + ], + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ] + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3A0EX8ZRNAR72G5YZ04JQZB2EVPYBP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.29785, + 0.11628, + 2.76954 + ], + "start_rotation": [ + 0, + 0.39164, + 0, + -0.92012 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 17.24494, + "euclidean_distance": 13.16435, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.22044, + 2.91628, + -0.34466 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "b14dbfea048449aa8b8934cbf491a10a", + "path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + [ + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a" + ], + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3MTMREQS4XLYU156ELMZAR6H2RXAWR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.47073, + 0.11628, + -1.21777 + ], + "start_rotation": [ + 0, + 0.00409, + 0, + 0.99999 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 2.32996, + "euclidean_distance": 2.18284, + "closest_goal_object_id": 422, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.57312, + 0.11628, + -0.37363 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "4545f7a0d918401ebccdb6716a5f1fce", + "path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A75XDPFNICR3T:36V4Q8R5ZM3UC5I9ZFDYRTJV5FFMQ6", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.49745, + 0.11628, + 7.01295 + ], + "start_rotation": [ + 0, + 0.04248, + 0, + 0.9991 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 6.41296, + "euclidean_distance": 4.39711, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.27945, + 0.11628, + 3.50944 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "d0a013ec97674abc8fd7657ea7844221", + "path": [ + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Find the fireplace.", + "instr_encoding": [ + 101, + 2424, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3IAEQB9FMGNWS88IYVD10SENNTEWDX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.22421, + 3.11628, + -4.78731 + ], + "start_rotation": [ + 0, + 0.25461, + 0, + 0.96704 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.16059, + "euclidean_distance": 6.4013, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.48088, + 2.91628, + -4.76777 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_7_newN_1" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3TXMY6UCAGRH3J6IMQJKOXEJBWMQCT", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.86872, + 2.91628, + -1.59876 + ], + "start_rotation": [ + 0, + 0.93829, + 0, + -0.34586 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.97934, + "euclidean_distance": 5.56174, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.06061, + 0.11628, + 2.85917 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "3532b1e7ea1646848b710936d4696a5d", + "path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:35H6S234SC33UGEJS7IE4MRIJD265G", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.94521, + 0.11628, + -5.22335 + ], + "start_rotation": [ + 0, + 0.97283, + 0, + 0.23153 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.68144, + "euclidean_distance": 9.61911, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 0.77677, + 0.11628, + 0.53813 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_146_newN_2", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_124_newN_0" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + [ + "1d8256878b534440b5ba54b31bfb210b" + ], + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_146_newN_2", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "0_edge_124_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3II4UPYCOLAR8BCWMMEV83W0IC3QDE", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.14512, + 2.97301, + 1.62874 + ], + "start_rotation": [ + 0, + 0.96951, + 0, + 0.24505 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 8.77483, + "euclidean_distance": 6.70297, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.10784, + 2.91628, + -4.2261 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:351SEKWQS2K0NWE4UT7ERUCV6K7DMV", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.86844, + 0.11628, + -1.54978 + ], + "start_rotation": [ + 0, + 0.99654, + 0, + -0.08313 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 15.07545, + "euclidean_distance": 4.62614, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.31161, + 2.91628, + 1.93764 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "1f7f69e3874c48b8b9caf0548240603f", + "path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3A7Y0R2P2QROKUD0IWVY59N6IQIJXT", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.70787, + 0.11628, + 5.07818 + ], + "start_rotation": [ + 0, + 0.98092, + 0, + 0.19439 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.14498, + "euclidean_distance": 6.56049, + "closest_goal_object_id": 370, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.60864, + 0.11628, + -1.45819 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "1e597325e01d4a9aa332e92abc455414", + "path": [ + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3Q5C1WP23O48NUDMM16X9Q01B7J15K", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.74596, + 2.91628, + 3.05906 + ], + "start_rotation": [ + 0, + 0.85618, + 0, + -0.51667 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 15.11012, + "euclidean_distance": 2.86663, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.04307, + 0.11628, + 2.71325 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "1e9bcf7676d44f2691efdeadc0d88d76", + "path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_185_newN_1", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "0_edge_161_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "refined_path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + [ + "1e9bcf7676d44f2691efdeadc0d88d76" + ], + "0_edge_161_newN_0", + "0_edge_77_newN_1", + [ + "0_edge_161_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76" + ], + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + [ + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + [ + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "0_edge_185_newN_1", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3FFJ6VRIL3RKSTNJX2LRKULWB2XI0O", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.11605, + 0.11628, + -4.0953 + ], + "start_rotation": [ + 0, + 0.79271, + 0, + 0.6096 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 1.82828, + "euclidean_distance": 1.71584, + "closest_goal_object_id": 353, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.55598, + 0.11628, + -3.67373 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702" + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:3137ONMDKI85NSWIFLK3K7AKQEVEG6", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.13196, + 1.77592, + 0.82489 + ], + "start_rotation": [ + 0, + 0.92316, + 0, + 0.38441 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.87319, + "euclidean_distance": 2.29846, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.99256, + 2.91628, + -1.09742 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "e0c61a2e0f9244cd8534e9ed8be96322", + "path": [ + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "refined_path": [ + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3OS4RQUCRBI12PO3UACV1E4NLR4BF3", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.86823, + 0.11628, + -4.91253 + ], + "start_rotation": [ + 0, + 0.45789, + 0, + 0.88901 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.45108, + "euclidean_distance": 2.49741, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.33923, + 0.11628, + -4.32604 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:3TR2532VIRXB1FT4H9M85WAN4876J3", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.86159, + 2.91628, + -4.89736 + ], + "start_rotation": [ + 0, + 0.8062, + 0, + 0.59164 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.68391, + "euclidean_distance": 7.56515, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.20992, + 2.91628, + 1.97905 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "0_edge_169_newN_0", + "path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_80_newN_0", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b" + ], + "0_edge_80_newN_0", + [ + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:39ZSFO5CAAZW3QJ5DRKBL2O37TOJUF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.03841, + 0.11628, + -0.55648 + ], + "start_rotation": [ + 0, + 0.68087, + 0, + -0.73241 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.49988, + "euclidean_distance": 3.32815, + "closest_goal_object_id": 291, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.71193, + 0.11628, + -3.94573 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "8b55e4f095374cfe8ddb0fda0f0dfa02", + "path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "refined_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3ZPPDN2SLXZQ8I9A1FETSQOXP6CE94", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.43947, + 0.11628, + -6.59749 + ], + "start_rotation": [ + 0, + 0.14567, + 0, + 0.98933 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.61331, + "euclidean_distance": 5.87763, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.40096, + 0.11628, + -2.45413 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "dd6ae3e4669546a4a7fd78186723d12f", + "path": [ + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_102_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0" + ], + "refined_path": [ + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "0_edge_102_newN_0" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:36AHBNMV1TF0HD3IDWVPLPZ3Y1RDYQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.04158, + 3.11628, + -3.1432 + ], + "start_rotation": [ + 0, + 0.97397, + 0, + 0.22666 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.52541, + "euclidean_distance": 6.78194, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.65577, + 2.91628, + -4.81946 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_7_newN_1" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1" + ] + }, + { + "episode_id": "AX8WLDRDXA7P9:3VE8AYVF8O0I0RQWRYSLACEMEXNF81", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.84098, + 0.11628, + -1.25413 + ], + "start_rotation": [ + 0, + 0.48894, + 0, + -0.87231 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.39035, + "euclidean_distance": 8.36234, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.25338, + 0.11628, + -1.82439 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "eb3364f96bed4877b27ce5e0cfa32702", + "path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A7XL1V3G7C2VV:3EJJQNKU9T88WSWYLXML4EL36LFHRM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.59273, + 0.11628, + -3.09362 + ], + "start_rotation": [ + 0, + 0.99461, + 0, + 0.10373 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 2.60906, + "euclidean_distance": 2.1796, + "closest_goal_object_id": 267, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.84431, + 0.11628, + -0.85502 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "674b3b6705604a4c8b89182edee11e54", + "path": [ + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3570Y55XZRM3TXD9FMWXRA207F8YGQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.48042, + 2.91628, + -4.38989 + ], + "start_rotation": [ + 0, + 0.26366, + 0, + 0.96462 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.75511, + "euclidean_distance": 4.09413, + "closest_goal_object_id": 92, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.53864, + 2.91628, + -7.19775 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "2c449dc925de472ca31124feca25a01a", + "path": [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3RSDURM96CP59JHI9R69R7HOVM7EYE", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.18008, + 0.11628, + -5.4245 + ], + "start_rotation": [ + 0, + 0.14891, + 0, + 0.98885 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 3.39638, + "euclidean_distance": 3.16649, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.08976, + 0.11628, + -4.59005 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "0_edge_73_newN_0", + "path": [ + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ], + "instruction": "Navigate to the fireplace.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ], + "refined_path": [ + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ] + }, + { + "episode_id": "A272X64FOZFYLB:352YTHGROXG1VMU0ALQ8WLAUVPH4HV", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.34866, + 2.91628, + 3.38964 + ], + "start_rotation": [ + 0, + 0.99261, + 0, + -0.12136 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.53118, + "euclidean_distance": 1.54137, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.38452, + 2.91628, + 1.82775 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_33_newN_1", + "path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "refined_path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3PEIJLRY6VWAQEDZPVEDUZHF0FKXWZ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.04537, + 2.91628, + -7.23494 + ], + "start_rotation": [ + 0, + 0.18914, + 0, + 0.98195 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.79932, + "euclidean_distance": 6.30377, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.49646, + 2.91628, + -1.43439 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "f1b5f89d2b0a46449f374351c1579c80", + "path": [ + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3R6P78PK7ME7CBEF5G9YJTAKDNQTGZ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.60603, + 2.91628, + 1.65228 + ], + "start_rotation": [ + 0, + 0.90298, + 0, + 0.42968 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.64798, + "euclidean_distance": 5.13687, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.03161, + 2.91628, + -1.0242 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "d339130a5534437da266a71435143314", + "path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3II4UPYCOLAR8BCWMMEV83W0I4PDQ7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.75372, + 2.91628, + 0.64875 + ], + "start_rotation": [ + 0, + 0.34316, + 0, + 0.93928 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.66294, + "euclidean_distance": 3.04918, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.23182, + 1.21393, + 1.47713 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "d339130a5534437da266a71435143314", + "path": [ + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16" + ], + "4bb7642a8af44f97acb81190589a3451", + [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:38F5OAUN5PFYE9CJCJOFZXU359AH7C", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.41769, + 0.11628, + -1.65585 + ], + "start_rotation": [ + 0, + 0.31609, + 0, + -0.94873 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 6.73391, + "euclidean_distance": 2.14612, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.61073, + 0.11628, + -1.53398 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "1f7f69e3874c48b8b9caf0548240603f", + "path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + [ + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3COPXFW7XDFEM5HREQLTCB1GXPYPKJ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.88912, + 0.11628, + 4.0975 + ], + "start_rotation": [ + 0, + 0.99929, + 0, + -0.03775 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 8.38921, + "euclidean_distance": 5.83321, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.70224, + 2.91628, + -0.66983 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_204_newN_1", + "path": [ + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A2KOR4003SVNC5:3W8CV64QJ422SS0CRGMZDTLAENU9H4", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.72326, + 2.91628, + 1.92158 + ], + "start_rotation": [ + 0, + 0.29586, + 0, + 0.95523 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.12498, + "euclidean_distance": 8.92091, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.45503, + 2.91628, + -4.75474 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "d339130a5534437da266a71435143314", + "path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "5635036d3bfb483eac283af7bb5ac986", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + [ + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3H0W84IWBM5WCI5WVWEFJBORSNQERM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.42713, + 0.11628, + -1.22709 + ], + "start_rotation": [ + 0, + 0.82973, + 0, + -0.55816 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.78167, + "euclidean_distance": 5.35644, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.60668, + 0.11628, + 2.56359 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "4545f7a0d918401ebccdb6716a5f1fce", + "path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3EICBYG646Z0HW25R0ZBRW2XKLZCJK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.74407, + 0.11628, + -3.19516 + ], + "start_rotation": [ + 0, + 0.98972, + 0, + 0.14301 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.93373, + "euclidean_distance": 6.45499, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.29595, + 0.11628, + -2.47214 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ], + "refined_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3EJJQNKU9T88WSWYLXML4EL4N2ARH8", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.3074, + 3.11628, + 1.2412 + ], + "start_rotation": [ + 0, + 0.7564, + 0, + 0.65411 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.86903, + "euclidean_distance": 1.97189, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.7943, + 2.91628, + 3.15838 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3UWN2HHPU08C73IM3KH3Z8NVEYWNSC", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.85565, + 2.91628, + -0.35408 + ], + "start_rotation": [ + 0, + 0.46479, + 0, + 0.88542 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 11.74206, + "euclidean_distance": 9.67823, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.2566, + 2.91628, + 1.94601 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "080a334ceb144054b12c4ed7847b8f71", + "path": [ + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_9_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "12bce16a8b8e424bba0742b82a46352b", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:3RXCAC0YITSOERMR2IY3SXEYFH48GK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.50405, + 0.11628, + -4.71001 + ], + "start_rotation": [ + 0, + 0.92552, + 0, + 0.3787 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 13.23394, + "euclidean_distance": 11.74983, + "closest_goal_object_id": 402, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.26613, + 0.11628, + 6.71039 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "3c496aedd9d645a5b8d7a7b1b53f0636", + "path": [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_146_newN_2", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "0_edge_126_newN_0" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "0_edge_126_newN_0" + ], + "refined_path": [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + [ + "3c496aedd9d645a5b8d7a7b1b53f0636" + ], + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + [ + "0_edge_146_newN_0" + ], + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_146_newN_2", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "0_edge_126_newN_0" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3EJPLAJKEOJ11UY8ZVPUTQYDNAGZ6L", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.86212, + 2.91628, + 5.34331 + ], + "start_rotation": [ + 0, + 0.93193, + 0, + 0.36264 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 13.33514, + "euclidean_distance": 5.32536, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.01987, + 0.11628, + 2.95164 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "0_edge_30_newN_1", + "path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "0_edge_210_newN_0", + "0_edge_80_newN_0", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0_edge_80_newN_0", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3AQF3RZ55ALVWD78YJVNQYIUUF26FL", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.51058, + 0.11628, + -3.85462 + ], + "start_rotation": [ + 0, + 0.8106, + 0, + -0.5856 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 19.38348, + "euclidean_distance": 6.36061, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.2858, + 2.91628, + 1.87593 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_210_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f" + ], + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:3U5JL4WY5MCYHCUFFP8UZ7YOGEBX4N", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.49729, + 2.91628, + -0.68794 + ], + "start_rotation": [ + 0, + 0.86077, + 0, + 0.50899 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.49576, + "euclidean_distance": 4.55974, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.11406, + 1.32047, + 1.40889 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "7cae5e5f8adf444d829c95b4a4412ffd", + "path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3RWE2M8QWJDC6UYAUIYJP2HDKF2N0Z", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.93696, + 0.11628, + -4.0843 + ], + "start_rotation": [ + 0, + 0.99888, + 0, + 0.04724 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.58716, + "euclidean_distance": 3.55866, + "closest_goal_object_id": 300, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.27623, + 0.11628, + -1.82343 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3X65QVEQI2Q6CMQ5ULBO7BFP1VNCLO", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.20275, + 2.91628, + 3.17275 + ], + "start_rotation": [ + 0, + 0.55859, + 0, + 0.82945 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 14.56382, + "euclidean_distance": 3.00182, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.08776, + 0.11628, + 2.62326 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "0_edge_77_newN_0", + "path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3UWN2HHPU08C73IM3KH3Z8NWF85NS8", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.68388, + 0.11628, + 5.9309 + ], + "start_rotation": [ + 0, + 0.71313, + 0, + 0.70103 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.86189, + "euclidean_distance": 3.96717, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.09621, + 0.11628, + 2.14429 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "947f02de64db4ccbbe220a9f9124a815", + "path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "refined_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:3TXMY6UCAGRH3J6IMQJKOXEJEORCQ7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.045, + 0.11628, + -1.93458 + ], + "start_rotation": [ + 0, + 0.09846, + 0, + -0.99514 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.75875, + "euclidean_distance": 6.15559, + "closest_goal_object_id": 319, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.5829, + 0.11628, + -4.72798 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "84928b00abef4a8489bcaa2ce410d1e5", + "path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "refined_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1" + ], + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + [ + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + [ + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3TR2532VIRXB1FT4H9M85WANOYVJ64", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.81068, + 0.11628, + 5.91347 + ], + "start_rotation": [ + 0, + 0.24998, + 0, + 0.96825 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.17225, + "euclidean_distance": 3.84029, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.17633, + 0.11628, + 3.10412 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "0_edge_153_newN_2", + "path": [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:3FFJ6VRIL3RKSTNJX2LRKULWBQYI01", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.99139, + 0.11628, + 2.84475 + ], + "start_rotation": [ + 0, + 0.52681, + 0, + -0.84998 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.91249, + "euclidean_distance": 7.276, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.64487, + 0.11628, + 2.62208 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "0_edge_102_newN_0", + "path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3M0BCWMB8XZ3DBAYKZMV52QNHBQWBH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.40179, + 0.11628, + 1.53182 + ], + "start_rotation": [ + 0, + 0.42214, + 0, + 0.90653 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 8.71434, + "euclidean_distance": 8.13864, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.1288, + 0.11628, + -4.12222 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "cdafd704291841daaa57ce008a95a06a", + "path": [ + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "0_edge_207_newN_0", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "refined_path": [ + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a" + ], + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3LEP4MGT3I3445A734H5DE11U0XBDS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.82792, + 3.11628, + -2.70313 + ], + "start_rotation": [ + 0, + 0.86939, + 0, + 0.49413 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.23102, + "euclidean_distance": 5.74174, + "closest_goal_object_id": 175, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.76356, + 2.91628, + 2.82642 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "AOWW3URQNRJ6U:3TMFV4NEPAHKBDCRHN2LE00MC2V8WH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.98554, + 2.91628, + -7.28461 + ], + "start_rotation": [ + 0, + 0.54707, + 0, + -0.83708 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.84928, + "euclidean_distance": 6.32627, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.5292, + 2.91628, + -1.44333 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "f1b5f89d2b0a46449f374351c1579c80", + "path": [ + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930" + ], + "refined_path": [ + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3VHHR074H5K005V9343DRPNBNZ47LF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.95578, + 2.91628, + 3.43869 + ], + "start_rotation": [ + 0, + 0.94906, + 0, + -0.31511 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 14.37635, + "euclidean_distance": 3.14826, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.07644, + 0.11628, + 2.59483 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "0_edge_161_newN_0", + "path": [ + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "refined_path": [ + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3R3YRB5GRH6L2XG1JL7YS3LKHCSUAK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.22285, + 2.91628, + 4.72854 + ], + "start_rotation": [ + 0, + 0.00768, + 0, + 0.99997 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 15.24868, + "euclidean_distance": 3.62771, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.23031, + 0.11628, + 3.38447 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "d97dee547dac432094720d127b49b347", + "path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Navigate to the fireplace.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3L0KT67Y8GJ6J2M0AMQEGOL3W13YSY", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.51086, + 0.11628, + 3.56302 + ], + "start_rotation": [ + 0, + 0.2294, + 0, + -0.97333 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.20016, + "euclidean_distance": 6.06783, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.25205, + 2.91628, + -0.50519 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "50629d10507840cba1ff155045d3f76b", + "path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3YJ6NA41JDJJBLB9W5LHBW14ZGWPJX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.62531, + 2.91628, + -1.54498 + ], + "start_rotation": [ + 0, + 0.54042, + 0, + -0.8414 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.64321, + "euclidean_distance": 3.11122, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.95313, + 2.91628, + -4.24058 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "3532b1e7ea1646848b710936d4696a5d", + "path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ], + "refined_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:39GAF6DQWT3PLOS1SSOADOU0OJL1V3", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.66728, + 2.91628, + 1.23061 + ], + "start_rotation": [ + 0, + 0.96797, + 0, + -0.25106 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.47042, + "euclidean_distance": 6.70283, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.28251, + 2.91628, + -0.40022 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "34a370fe2d1840e196a491db1e995e16", + "path": [ + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "AMX5R6NLYNA2K:3VAR3R6G1R4C643PQ1BBX6N063GO88", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.25333, + 0.11628, + -1.20693 + ], + "start_rotation": [ + 0, + 0.25863, + 0, + -0.96598 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 3.21291, + "euclidean_distance": 2.47602, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.68775, + 0.11628, + -3.68907 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "8b55e4f095374cfe8ddb0fda0f0dfa02", + "path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "refined_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:38YMOXR4MW2X7ZT3O85NUM4V344W69", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.9452, + 0.11628, + -2.35306 + ], + "start_rotation": [ + 0, + 0.34824, + 0, + 0.93741 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 7.43539, + "euclidean_distance": 4.67111, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.68765, + 0.11628, + -1.66737 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "0_edge_80_newN_0", + "path": [ + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:378XPAWRUEGGT6L1P4IK90X976FIA8", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.36337, + 0.11628, + 6.112 + ], + "start_rotation": [ + 0, + 0.80502, + 0, + -0.59325 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 5.73028, + "euclidean_distance": 4.6182, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.1921, + 0.11628, + 3.46921 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "0_edge_153_newN_2", + "path": [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_204_newN_1", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Find the fireplace.", + "instr_encoding": [ + 101, + 2424, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:317HQ483I9VNDPFQY8NPV6H9JORIN4", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.0074, + 0.11628, + -0.33464 + ], + "start_rotation": [ + 0, + 0.44843, + 0, + 0.89382 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 17.27774, + "euclidean_distance": 15.88286, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.64562, + 0.11628, + -2.71442 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "ed7387d968874f4bbe512395b64405af", + "path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_126_newN_1", + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_126_newN_1", + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_126_newN_1", + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + [ + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3LJ7UR74RJGT5IGBDJLL157QH1DN4A", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.88372, + 2.91628, + -1.16704 + ], + "start_rotation": [ + 0, + 0.96383, + 0, + -0.26653 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 4.34554, + "euclidean_distance": 3.52496, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.8958, + 2.91628, + 1.72397 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "b8e48c0381644e26bee60d15b8afb47e", + "path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:34FNN24DCOC5D0OPYQD6NDBA2H6Y5P", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.20044, + 0.11628, + 2.8385 + ], + "start_rotation": [ + 0, + 0.03328, + 0, + 0.99945 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 8.92979, + "euclidean_distance": 4.5402, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.47139, + 2.91628, + -0.67616 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_102_newN_0", + "path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3V5Q80FXIZUCY08ERMIIZCCMSAG23B", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.74368, + 2.91628, + -6.86078 + ], + "start_rotation": [ + 0, + 0.32561, + 0, + -0.9455 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.54883, + "euclidean_distance": 5.84242, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.72496, + 2.91628, + -1.43964 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "f1b5f89d2b0a46449f374351c1579c80", + "path": [ + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3KGTPGBS6ZOWXULX66EJML2LMO82U8", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.16867, + 2.91628, + 5.96739 + ], + "start_rotation": [ + 0, + 0.54146, + 0, + 0.84073 + ], + "object_category": "table", + "info": { + "geodesic_distance": 8.41351, + "euclidean_distance": 7.23037, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.50397, + 2.91628, + -1.18262 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "5635036d3bfb483eac283af7bb5ac986", + "path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930" + ], + "refined_path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986" + ], + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3LOZAJ85YFGOEYFSBBP66S1QZ4BX2Y", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.82854, + 0.11628, + 2.10578 + ], + "start_rotation": [ + 0, + 0.81427, + 0, + -0.58049 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.60305, + "euclidean_distance": 4.62459, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.22977, + 0.11628, + -1.88267 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "dde66ea80aca47968d3ec9c6e6ef3c0a", + "path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:32UTUBMZ7IZQYMATUPHZJ079AV2BVM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.13242, + 2.91628, + -0.84355 + ], + "start_rotation": [ + 0, + 0.54076, + 0, + 0.84118 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.4263, + "euclidean_distance": 7.63811, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.27303, + 2.91628, + 1.90337 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "7cae5e5f8adf444d829c95b4a4412ffd", + "path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:3N4BPTXIOAVREAPNVCKNMHOGJVSKU6", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.02157, + 0.11628, + 4.93883 + ], + "start_rotation": [ + 0, + 0.59481, + 0, + -0.80386 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 7.80927, + "euclidean_distance": 7.05679, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.60012, + 0.11628, + -1.98666 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "46631317e8684d3f98f0b9c7d3c51417", + "path": [ + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Go to the fireplace.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A2CWA5VQZ6IWMQ:31HQ4X3T3UDMJ3F1R71OMGJ7NMYLSS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.94503, + 0.11628, + 2.82041 + ], + "start_rotation": [ + 0, + 0.99844, + 0, + -0.05585 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 6.30615, + "euclidean_distance": 5.72077, + "closest_goal_object_id": 197, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 1.32305, + 0.11628, + 5.23464 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "cdafd704291841daaa57ce008a95a06a", + "path": [ + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3UJ1CZ6IZJS8HECGZKLH5RNA4WKS50", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.9746, + 0.11628, + -3.93614 + ], + "start_rotation": [ + 0, + 0.77343, + 0, + -0.63388 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 3.17702, + "euclidean_distance": 3.01113, + "closest_goal_object_id": 267, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.8569, + 0.11628, + -0.8754 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "674b3b6705604a4c8b89182edee11e54", + "path": [ + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3KB8R4ZV1GA7GPKY5UIDJZ4ZNHRGBH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.17779, + 0.11628, + 6.35146 + ], + "start_rotation": [ + 0, + 0.03404, + 0, + 0.99942 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.66813, + "euclidean_distance": 5.80337, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.6414, + 0.11628, + 2.60106 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "0_edge_153_newN_2", + "path": [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:38BQUHLA9Y3RRT5TK2LU2OOVDSEMOU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.15581, + 2.91628, + 5.13883 + ], + "start_rotation": [ + 0, + 0.38348, + 0, + -0.92355 + ], + "object_category": "table", + "info": { + "geodesic_distance": 7.64802, + "euclidean_distance": 6.74045, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.49494, + 2.91628, + -1.14201 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "0_edge_30_newN_1", + "path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "34a370fe2d1840e196a491db1e995e16", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ], + "refined_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3BF51CHDTXDKWYCZRK36KIKHBD5H0T", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.10291, + 2.91628, + -3.38641 + ], + "start_rotation": [ + 0, + 0.96227, + 0, + 0.27209 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 4.92524, + "euclidean_distance": 4.06289, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.40027, + 2.91628, + -1.02678 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "2c449dc925de472ca31124feca25a01a", + "path": [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3SEPORI8WP22OWABP8669V0ZJTCAZS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.2656, + 2.91628, + -1.67597 + ], + "start_rotation": [ + 0, + 0.04561, + 0, + 0.99896 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.10524, + "euclidean_distance": 5.7987, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.07545, + 0.11628, + 2.59516 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_9_newN_0", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ] + }, + { + "episode_id": "A17OSPGV41FZ7P:3C8HJ7UOP9X3QXJ0MBWBIMVZD8OMZ7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.8324, + 0.11628, + -1.37855 + ], + "start_rotation": [ + 0, + 0.8266, + 0, + -0.56279 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.29854, + "euclidean_distance": 8.36256, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.22752, + 0.11628, + -1.86594 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "eb3364f96bed4877b27ce5e0cfa32702", + "path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3NC5L260MQPLLJDCYFHH7Y4MW5GFO2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.327, + 0.11628, + 4.97759 + ], + "start_rotation": [ + 0, + 0.95655, + 0, + 0.29158 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.62372, + "euclidean_distance": 3.14526, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.19619, + 0.11628, + 2.13075 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "46631317e8684d3f98f0b9c7d3c51417", + "path": [ + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "refined_path": [ + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:33IZTU6J834HJXWQ5Q4CXAETEUVXST", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.5586, + 0.11628, + -5.02913 + ], + "start_rotation": [ + 0, + 0.95524, + 0, + -0.29583 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 9.34714, + "euclidean_distance": 8.70749, + "closest_goal_object_id": 214, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.85477, + 0.11628, + 3.67486 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "0_edge_147_newN_1", + "path": [ + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:34QN5IT0T1UR3NB6OG9075RHUIP80B", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.46733, + 3.11628, + -2.94219 + ], + "start_rotation": [ + 0, + 0.43243, + 0, + 0.90167 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 8.48637, + "euclidean_distance": 4.6781, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.99731, + 2.91628, + -4.10757 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "A3F90N8YVKJ4I7:3X1FV8S5JZUMP3I4AB9DKBY6TCNGVC", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.95726, + 0.11628, + 0.17255 + ], + "start_rotation": [ + 0, + 0.92638, + 0, + 0.37658 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 13.56776, + "euclidean_distance": 11.97976, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.1239, + 0.11628, + -4.0885 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "0_edge_124_newN_0", + "path": [ + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + [ + "fea7a9db41944d76b258036b046d13aa" + ], + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3VE8AYVF8O0I0RQWRYSLACEL0I58F2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.3234, + 2.91628, + -4.06058 + ], + "start_rotation": [ + 0, + 0.52067, + 0, + -0.85376 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 5.12318, + "euclidean_distance": 4.31162, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.31303, + 2.91628, + -1.05953 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "0_edge_169_newN_0", + "path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3180JW2OT6FFIBTQCQC3DQWN5PZ5JA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.89703, + 0.11628, + 4.98984 + ], + "start_rotation": [ + 0, + 0.74819, + 0, + 0.66349 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 4.58708, + "euclidean_distance": 2.72083, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.22516, + 0.11628, + 3.39333 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "c0baa7759b714fa794ca1fabbd96a96b", + "path": [ + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ], + "instruction": "Go to the fireplace.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ], + "refined_path": [ + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3MD9PLUKKKH98F40YCBBV1KZIZCNZO", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.90593, + 0.11628, + -5.68775 + ], + "start_rotation": [ + 0, + 0.14492, + 0, + -0.98944 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 10.94601, + "euclidean_distance": 8.43794, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.27483, + 0.11628, + -4.04637 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "0_edge_147_newN_0", + "path": [ + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + [ + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3FPRZHYEP0ALVR6GFW2T1H9W8M9V3L", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.94077, + 2.91628, + -4.79409 + ], + "start_rotation": [ + 0, + 0.58092, + 0, + -0.81396 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.9412, + "euclidean_distance": 6.81432, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.76502, + 2.91628, + 1.82289 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "12bce16a8b8e424bba0742b82a46352b", + "path": [ + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A13OOAT2ORKH6V:3HWRJOOET758DX59ALEK9LTNHSSES2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.90321, + 0.11628, + 3.20417 + ], + "start_rotation": [ + 0, + 0.71907, + 0, + -0.69493 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.2205, + "euclidean_distance": 4.69863, + "closest_goal_object_id": 402, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.98312, + 0.11628, + 6.7795 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "50629d10507840cba1ff155045d3f76b", + "path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_146_newN_2", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_124_newN_0" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0" + ], + "refined_path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0" + ], + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + [ + "0_edge_146_newN_0" + ], + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_146_newN_2", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "0_edge_124_newN_0" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3E47SOBEYSZ4MLIZ9IEBFVNW6SFICO", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.24457, + 0.94111, + 1.91648 + ], + "start_rotation": [ + 0, + 0.82358, + 0, + 0.56721 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 1.87963, + "euclidean_distance": 1.78251, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.8355, + 0.11628, + 3.44446 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "673ae67937804c42b3c22e93efb5d069", + "path": [ + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ], + "refined_path": [ + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3X1FV8S5JZUMP3I4AB9DKBY6TDAVGG", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.51446, + 2.91628, + 3.49645 + ], + "start_rotation": [ + 0, + 0.65497, + 0, + 0.75566 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.40941, + "euclidean_distance": 5.44872, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.6646, + 2.91628, + -1.15258 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "0_edge_33_newN_1", + "path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "8f25ebb1c23d4fddb035eb336426d5fa", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3VSOLARPKDCNYKTDCVXX9ZK0VOP93M", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.45579, + 3.11628, + -4.79284 + ], + "start_rotation": [ + 0, + 0.60877, + 0, + 0.79335 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 12.60229, + "euclidean_distance": 10.69161, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.03538, + 0.11628, + 3.14943 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "0_edge_146_newN_1", + "path": [ + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_9_newN_0", + "9001b330086e4aa69799729560e6dca0", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa" + ], + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:336YQZE83XH5JJZBFNPVTIO3VLNM5C", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.64093, + 3.11628, + -2.64047 + ], + "start_rotation": [ + 0, + 0.74614, + 0, + 0.66579 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.6615, + "euclidean_distance": 6.35828, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.1213, + 1.4051, + 1.31501 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3GD6L00D3U06V1YSE0NJQSBNX2AM1W", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.09919, + 2.91628, + -1.49313 + ], + "start_rotation": [ + 0, + 0.68036, + 0, + -0.73288 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.78018, + "euclidean_distance": 5.46696, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.86597, + 0.11628, + 3.15369 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "3532b1e7ea1646848b710936d4696a5d", + "path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2" + ], + "refined_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3Z3ZLGNNSKXTQJAZTX8JVUAPS2D3Q1", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.65072, + 0.11628, + -1.78109 + ], + "start_rotation": [ + 0, + 0.92897, + 0, + 0.37015 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 7.2578, + "euclidean_distance": 6.83259, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 0.65872, + 0.11628, + 0.46337 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "eb3364f96bed4877b27ce5e0cfa32702", + "path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_146_newN_2", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_146_newN_2", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "AOWW3URQNRJ6U:3N8OEVH1FTTFRWQ5XI07USDZ7PFOOO", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.13753, + 0.11628, + -0.3781 + ], + "start_rotation": [ + 0, + 0.86732, + 0, + 0.49775 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 8.51146, + "euclidean_distance": 7.90663, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.59403, + 0.11628, + -2.74761 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "8b219cad487e4091b7c29146f0224729", + "path": [ + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "refined_path": [ + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:35BLDD71I80MGKD903X25IEC10JVZB", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.35917, + 0.11628, + 2.69733 + ], + "start_rotation": [ + 0, + 0.70568, + 0, + 0.70853 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 6.73509, + "euclidean_distance": 6.149, + "closest_goal_object_id": 197, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 1.26043, + 0.11628, + 5.25349 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "cdafd704291841daaa57ce008a95a06a", + "path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ], + "refined_path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0" + ], + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ] + }, + { + "episode_id": "A3C7COPV48I37D:36AHBNMV1TF0HD3IDWVPLPZ2F9GDYA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.32232, + 2.91628, + -1.98598 + ], + "start_rotation": [ + 0, + 0.65166, + 0, + -0.75851 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.12895, + "euclidean_distance": 6.00188, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.08228, + 0.11628, + 2.49008 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "0_edge_185_newN_1", + "dcced7b92f444b9a83bd7d54413fa486", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "0_edge_185_newN_1", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3DY46V3X3RL7BCE5NO89CGDH7CY55C", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.21436, + 0.11628, + 2.25318 + ], + "start_rotation": [ + 0, + 0.98722, + 0, + 0.15937 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.52946, + "euclidean_distance": 6.84105, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.34337, + 2.91628, + -0.97756 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "50629d10507840cba1ff155045d3f76b", + "path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ], + "refined_path": [ + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3BEFOD78W8WNN0VB1I6LOQIQ9MJ4MQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.76984, + 2.91628, + 3.69581 + ], + "start_rotation": [ + 0, + 0.64257, + 0, + -0.76622 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 13.81585, + "euclidean_distance": 6.85024, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.96113, + 0.11628, + 3.21266 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "0cb5fac1789e42d5a99cc87f4ef8cb35", + "path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ], + "refined_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3IJXV6UZ1ZM8SN7IRF464QMI6ZSRIP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.84376, + 0.11628, + 6.20166 + ], + "start_rotation": [ + 0, + 0.29078, + 0, + 0.95679 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.27697, + "euclidean_distance": 3.32524, + "closest_goal_object_id": 428, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.14893, + 0.11628, + 3.43343 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_153_newN_2", + "path": [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:30BXRYBRP60D4ODKKRWRRDTLC81HWS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.78953, + 2.91628, + -1.09514 + ], + "start_rotation": [ + 0, + 0.49494, + 0, + -0.86893 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.32094, + "euclidean_distance": 3.90575, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.16863, + 1.41703, + 1.24942 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "dcced7b92f444b9a83bd7d54413fa486", + "path": [ + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + [ + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "A30VAYXB85107X:3PQMUDRV7T9VZO4Z1SAXQYLRHVUIIF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.76664, + 3.11628, + -2.83361 + ], + "start_rotation": [ + 0, + 0.44832, + 0, + -0.89388 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 14.30811, + "euclidean_distance": 11.78088, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.32203, + 0.11628, + 3.56526 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Go to the fireplace.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A3BRY2LVVQGP3H:3Y5140Z9DZJNGAR3EN0HZVM35H6PIX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.0922, + 3.11628, + -3.88579 + ], + "start_rotation": [ + 0, + 0.32849, + 0, + 0.94451 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.91176, + "euclidean_distance": 7.53436, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.12121, + 2.91628, + -1.03061 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3J4Q2Z4UT06QHHCN3HJL0RLLPTWQWC", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.11742, + 0.11628, + -3.81495 + ], + "start_rotation": [ + 0, + 0.72428, + 0, + -0.6895 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 12.63719, + "euclidean_distance": 8.1476, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.29172, + 0.11628, + -3.75869 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "0_edge_146_newN_2", + "path": [ + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "refined_path": [ + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3B3WTRP3DD5YD2XU8VJSQPF8S1592C", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.87311, + 3.11628, + -3.34787 + ], + "start_rotation": [ + 0, + 0.97579, + 0, + 0.21872 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 8.81746, + "euclidean_distance": 6.15885, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.03126, + 2.91628, + -4.19515 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:32Q90QCQ1UOAPES15C5IIZ2D0ZLEKT", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.71506, + 2.91628, + 0.33938 + ], + "start_rotation": [ + 0, + 0.89984, + 0, + -0.43622 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 13.32303, + "euclidean_distance": 3.58476, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.02368, + 0.11628, + 2.69448 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "9001b330086e4aa69799729560e6dca0", + "path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_33_newN_1", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0" + ], + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3VNL7UK1XHM1YBIKUW3G18A9V9HTFE", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.73842, + 2.91628, + 3.69893 + ], + "start_rotation": [ + 0, + 0.54572, + 0, + 0.83797 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.5542, + "euclidean_distance": 7.04888, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.99293, + 2.91628, + -1.08101 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0bcfce0d81294b7e84a7eed52cb04a4e", + "path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3HRMW88U18T6OCDAIHJJCNSDSZLM0O", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.74208, + 0.11628, + 1.88251 + ], + "start_rotation": [ + 0, + 0.45186, + 0, + 0.89209 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 12.98654, + "euclidean_distance": 9.16801, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.2552, + 2.91628, + -0.36932 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "0_edge_182_newN_0", + "path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "dfa246b0d1fe4f08953b20151cf951c3", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "dfa246b0d1fe4f08953b20151cf951c3", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + [ + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1" + ], + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "dfa246b0d1fe4f08953b20151cf951c3", + [ + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096" + ], + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:34BBWHLWHCED0JO4Q9ECRPU0BKEIWH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.21086, + 2.91628, + -1.68868 + ], + "start_rotation": [ + 0, + 0.84966, + 0, + 0.52733 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.00593, + "euclidean_distance": 1.60372, + "closest_goal_object_id": 129, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -2.17829, + 2.91628, + -0.38255 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "743e6d37beae4b6482a43ae41e634e67", + "path": [ + "743e6d37beae4b6482a43ae41e634e67", + "0_edge_122_newN_0", + "f3dd1c323fde4f6fa5056433cdd92fa7" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "743e6d37beae4b6482a43ae41e634e67", + "0_edge_122_newN_0", + "f3dd1c323fde4f6fa5056433cdd92fa7" + ], + "refined_path": [ + "743e6d37beae4b6482a43ae41e634e67", + "0_edge_122_newN_0", + "f3dd1c323fde4f6fa5056433cdd92fa7" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39GXDJN2OVH7WOCMRDXPSYH8PHK8VU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.05151, + 2.91628, + 3.23364 + ], + "start_rotation": [ + 0, + 0.27131, + 0, + -0.96249 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 11.3644, + "euclidean_distance": 3.4762, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.8312, + 0.11628, + 3.16394 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "374e664207754a3b95a7d8010e122296", + "path": [ + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "0_edge_91_newN_1", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ], + "refined_path": [ + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:352YTHGROXG1VMU0ALQ8WLAUSQPH4F", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.43953, + 2.91628, + -7.16796 + ], + "start_rotation": [ + 0, + 0.68153, + 0, + -0.73179 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.22338, + "euclidean_distance": 6.14175, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.37371, + 2.91628, + -1.01136 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "e5bdf109ceb745f1bf4d66447afa02da", + "path": [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_169_newN_1", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "refined_path": [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3LO69W1SU5GJTY6AW777X203J51GL6", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.30757, + 2.91628, + -0.83904 + ], + "start_rotation": [ + 0, + 0.8815, + 0, + 0.47219 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.88705, + "euclidean_distance": 2.94437, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.21191, + 1.20752, + 1.48296 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "b8e48c0381644e26bee60d15b8afb47e", + "path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "refined_path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973" + ] + }, + { + "episode_id": "A3BRY2LVVQGP3H:3VAR3R6G1R4C643PQ1BBX6N090K8OT", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.28552, + 0.11628, + 4.28486 + ], + "start_rotation": [ + 0, + 0.84214, + 0, + 0.53925 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 8.72923, + "euclidean_distance": 5.88408, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.67526, + 2.91628, + -0.63079 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_204_newN_1", + "path": [ + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3JZQSN0I3SDXT6WEAW492PVJO26FGF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.09996, + 0.11628, + 3.54536 + ], + "start_rotation": [ + 0, + 0.80002, + 0, + -0.59997 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 8.5197, + "euclidean_distance": 7.79689, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.13214, + 0.11628, + -4.27432 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "32fb55017460457cbe0b8d1790a54786", + "path": [ + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + [ + "db59566f6465453d88a27b5bcb19b096" + ], + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:30H4UDGLT4L9CTHUZ2Y9ROTL08MMPM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.26849, + 0.11628, + 2.50561 + ], + "start_rotation": [ + 0, + 0.92147, + 0, + -0.38846 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 2.41071, + "euclidean_distance": 2.37387, + "closest_goal_object_id": 214, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.80915, + 0.11628, + 3.60969 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "bfd18e7fa8894c26a00f0cad55b31f76", + "path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:32N49TQG3ILLFC51OBH3OPN3SDKVAE", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.50347, + 0.11628, + -5.43227 + ], + "start_rotation": [ + 0, + 0.87982, + 0, + 0.47531 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 20.73305, + "euclidean_distance": 11.74354, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.32183, + 2.91628, + 1.95447 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "723a213fbaa847f2a44feac9246fd7b1", + "path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_210_newN_0", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3ERET4BTVOCTUI1KX1PWQL11SHUK9P", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.45962, + 2.91628, + 3.40159 + ], + "start_rotation": [ + 0, + 0.94203, + 0, + 0.33552 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.30229, + "euclidean_distance": 6.31606, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.11532, + 2.91628, + -0.93747 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0bcfce0d81294b7e84a7eed52cb04a4e", + "path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "8f25ebb1c23d4fddb035eb336426d5fa", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:33CID57106WIZMUM1S0NE8BVVDQL35", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.45648, + 3.11628, + -5.21743 + ], + "start_rotation": [ + 0, + 0.95274, + 0, + 0.30379 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.67858, + "euclidean_distance": 3.43611, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.11355, + 2.91628, + -1.71112 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "4e1ad142e5844d21a376040600184d9a", + "path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "d804a36fe0fc40dfb8f03ca3758ce904", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "9001b330086e4aa69799729560e6dca0", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0" + ], + "d804a36fe0fc40dfb8f03ca3758ce904", + [ + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa" + ], + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3R3YRB5GRH6L2XG1JL7YS3LKEEWAU5", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.0064, + 0.11628, + -1.49659 + ], + "start_rotation": [ + 0, + 0.78403, + 0, + 0.62073 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 3.34648, + "euclidean_distance": 3.18881, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.1897, + 0.11628, + -3.7677 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "0cd0dd452a324496afd701e1c4b2e973", + "path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "refined_path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "1d8256878b534440b5ba54b31bfb210b" + ], + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ] + }, + { + "episode_id": "A38AQF5BPHJS4C:3TY7ZAOG5HNBYOD7X563XA096XP0K5", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.14447, + 2.91628, + 1.96998 + ], + "start_rotation": [ + 0, + 0.99991, + 0, + -0.01356 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 6.78034, + "euclidean_distance": 6.42386, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.13451, + 2.91628, + -4.42578 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "0_edge_185_newN_1", + "path": [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3YWRV122CU27J9NMMNNKWCFOA73U8A", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.29297, + 0.11628, + 2.74531 + ], + "start_rotation": [ + 0, + 0.45357, + 0, + -0.89122 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 8.19019, + "euclidean_distance": 7.14094, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.23624, + 0.11628, + -3.76005 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "50629d10507840cba1ff155045d3f76b", + "path": [ + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "0_edge_204_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "refined_path": [ + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ], + "0_edge_204_newN_1", + [ + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3CFVK00FWNOHW5H4KUYLLBNEPSX6LV", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.20238, + 0.11628, + -2.78122 + ], + "start_rotation": [ + 0, + 0.74359, + 0, + 0.66864 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 10.18026, + "euclidean_distance": 7.44713, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.53996, + 0.11628, + -1.56077 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "f53ff13e8a954c67bda9a46f3e2e88b8", + "path": [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + [ + "0cd0dd452a324496afd701e1c4b2e973" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3K772S5NPAEJNORTZR2L57ML5LOEHZ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.58119, + 2.91628, + -3.36427 + ], + "start_rotation": [ + 0, + 0.34262, + 0, + 0.93947 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.10122, + "euclidean_distance": 3.58095, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.67476, + 2.91628, + -1.38556 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "d804a36fe0fc40dfb8f03ca3758ce904", + "path": [ + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3TMSXRD2X8320DS6I2T6ZQDEUIB1WG", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.12839, + 0.11628, + -2.57869 + ], + "start_rotation": [ + 0, + 0.93604, + 0, + 0.35188 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 14.56995, + "euclidean_distance": 10.83074, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.30616, + 0.11628, + 3.15628 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "370411a65c3d4dc8bd475805ad0f4195", + "path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3ERMJ6L4D0VK6NDU3G4SR2200O77MB", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.12848, + 2.91628, + 3.03927 + ], + "start_rotation": [ + 0, + 0.85007, + 0, + 0.52667 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 13.33179, + "euclidean_distance": 6.67283, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.05588, + 0.11628, + 2.84811 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "374e664207754a3b95a7d8010e122296", + "path": [ + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3EA3QWIZ4KYL82KAV49145N18CDTIS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.95237, + 2.91628, + 3.05046 + ], + "start_rotation": [ + 0, + 0.82274, + 0, + -0.56842 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 14.32714, + "euclidean_distance": 3.06228, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.04418, + 0.11628, + 2.68151 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "0_edge_161_newN_0", + "path": [ + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314" + ], + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3634BBTX0QXBPX290K4CN180KTHIF4", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.31296, + 3.11628, + -3.78229 + ], + "start_rotation": [ + 0, + 0.70629, + 0, + -0.70792 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.21919, + "euclidean_distance": 5.50309, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.06307, + 2.91628, + -0.91935 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A7XL1V3G7C2VV:3OCHAWUVGQNJVEJI0HVA6ONJZEPKX0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.24036, + 0.11628, + 4.94105 + ], + "start_rotation": [ + 0, + 0.82035, + 0, + -0.57186 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 13.66329, + "euclidean_distance": 11.94016, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.58694, + 0.11628, + 3.82794 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "2ea5348654d24115bba3dcdb21fa655e", + "path": [ + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679" + ], + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54" + ], + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3EA3QWIZ4KYL82KAV49145N188MITI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.92143, + 0.11628, + -4.27602 + ], + "start_rotation": [ + 0, + 0.34951, + 0, + -0.93693 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.43476, + "euclidean_distance": 11.22644, + "closest_goal_object_id": 402, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.21001, + 0.11628, + 6.86805 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_146_newN_2", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_124_newN_0" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0" + ], + "refined_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + [ + "0_edge_146_newN_0" + ], + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_146_newN_2", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "0_edge_124_newN_0" + ] + }, + { + "episode_id": "AAX9LTAOIBECD:3BWI6RSP7ICMUZLHMIG9EUXRUALE7D", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.93529, + 0.11628, + 1.81237 + ], + "start_rotation": [ + 0, + 0.28701, + 0, + 0.95793 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.88022, + "euclidean_distance": 6.93439, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.30698, + 2.91628, + 1.97647 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "19c6928f8cc64d7aa2d18a48e3b4ee21", + "path": [ + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "cdafd704291841daaa57ce008a95a06a", + "dfa246b0d1fe4f08953b20151cf951c3", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "dfa246b0d1fe4f08953b20151cf951c3", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + [ + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "cdafd704291841daaa57ce008a95a06a", + "dfa246b0d1fe4f08953b20151cf951c3", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2J5DN5UMU0A3Z:3VHHR074H5K005V9343DRPNB38U7L3", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.99355, + 2.91628, + 0.17778 + ], + "start_rotation": [ + 0, + 0.68647, + 0, + 0.72715 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.52988, + "euclidean_distance": 3.32255, + "closest_goal_object_id": 41, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.25917, + 3.11628, + 1.21088 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "625eb179629b45f280c01d3f6ec74b4f", + "path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0" + ], + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3S0TNUHWKVLL27C00SXVMCB12VX8DV", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.29121, + 0.11628, + 4.06962 + ], + "start_rotation": [ + 0, + 0.90764, + 0, + -0.41975 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 3.48723, + "euclidean_distance": 2.95941, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.29052, + 0.11628, + 3.52121 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "0_edge_204_newN_1", + "path": [ + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Find the fireplace.", + "instr_encoding": [ + 101, + 2424, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3DIP6YHAPEVQUDQ0WN8FSUTM27T8EJ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.50777, + 2.91628, + -1.28142 + ], + "start_rotation": [ + 0, + 0.67726, + 0, + -0.73574 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.56698, + "euclidean_distance": 5.2385, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.04273, + 0.11628, + 3.22006 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "b8e48c0381644e26bee60d15b8afb47e", + "path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "625eb179629b45f280c01d3f6ec74b4f", + "5b821a3b87cd4ed3a7c4414199a0a740", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + [ + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3PH3VY7DJN0ZV9DEQD2YRKXPSLAWZH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -15.05909, + 0.11628, + 0.21638 + ], + "start_rotation": [ + 0, + 0.94971, + 0, + 0.31314 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 17.49319, + "euclidean_distance": 8.74481, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.55445, + 0.11628, + 6.94316 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "322a5d3bbca1428fb92d39bfc6e603ee", + "path": [ + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "0_edge_210_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3Z7EFSHGNBH1CG7U84ECI5ACBRKCXA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.94061, + 0.11628, + 1.54965 + ], + "start_rotation": [ + 0, + 0.98296, + 0, + -0.18382 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 11.89459, + "euclidean_distance": 3.6606, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.27635, + 2.91628, + 1.94074 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "3c5c466d4f64452a9e87c545d918c4eb", + "path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:32VNZTT0A97EKG836Q22APC0I16R4C", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.26929, + 2.91628, + -1.61997 + ], + "start_rotation": [ + 0, + 0.97925, + 0, + 0.20266 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 4.74721, + "euclidean_distance": 3.73158, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.01117, + 2.91628, + -4.22098 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "53672af2c15047818f2ead24a2370930", + "path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0_edge_161_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "0_edge_161_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "refined_path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1" + ], + "0_edge_161_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2" + ] + }, + { + "episode_id": "A3BRY2LVVQGP3H:3WMINLGALD6PG3Z1XUMYYXZEAAPACQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.88177, + 0.11628, + -2.21252 + ], + "start_rotation": [ + 0, + 0.98447, + 0, + 0.17557 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 8.54861, + "euclidean_distance": 7.83335, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.74157, + 0.11628, + -2.78293 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "eb3364f96bed4877b27ce5e0cfa32702", + "path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3QL2OFSM98LW0MTQ6YR3K3JDQSYNCY", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.49363, + 0.11628, + 1.0481 + ], + "start_rotation": [ + 0, + 0.63748, + 0, + -0.77046 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.13885, + "euclidean_distance": 2.69052, + "closest_goal_object_id": 370, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.47204, + 0.11628, + -1.46263 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "181c56d99ddd42ba8d4be09dbb135381", + "path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1" + ], + "refined_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381" + ], + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:392CY0QWG3U1RH5KG38TWXB8EFYI4B", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.87463, + 2.91628, + 5.49475 + ], + "start_rotation": [ + 0, + 0.76293, + 0, + -0.64649 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 4.09807, + "euclidean_distance": 2.31956, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.48635, + 2.91628, + 3.1608 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "81df67c58e324caca152f29eb64f6993", + "path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "refined_path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + [ + "81df67c58e324caca152f29eb64f6993" + ], + "eba5ca774e2a41dfa6e22fbff7fe66d2", + [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2" + ], + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33LKR6A5KGNA8WOCNXOVC66EBVKT16", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.36214, + 0.11628, + 5.49432 + ], + "start_rotation": [ + 0, + 0.91627, + 0, + -0.40055 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.82876, + "euclidean_distance": 12.61956, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.26812, + 2.91628, + -0.34466 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "1e597325e01d4a9aa332e92abc455414", + "path": [ + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3VELCLL3GMM0PR6BSDJ6V2RE3R61FV", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.70514, + 0.11628, + -4.75658 + ], + "start_rotation": [ + 0, + 0.57932, + 0, + -0.8151 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.97255, + "euclidean_distance": 8.27321, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.32081, + 0.11628, + 2.96602 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3634BBTX0QXBPX290K4CN18Z1SHFIE", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.54284, + 2.91628, + -0.92223 + ], + "start_rotation": [ + 0, + 0.64557, + 0, + 0.7637 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 9.58552, + "euclidean_distance": 7.80401, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.9632, + 2.91628, + 1.75915 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "7cae5e5f8adf444d829c95b4a4412ffd", + "path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "ALZVG5501Y5IX:3PW9OPU9PSNGOXUZ4I4ZBJXPUPB12P", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.11533, + 3.11628, + -5.18565 + ], + "start_rotation": [ + 0, + 0.57264, + 0, + -0.81981 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 10.56925, + "euclidean_distance": 9.64102, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.52683, + 2.91628, + -0.62828 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "723a213fbaa847f2a44feac9246fd7b1", + "path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + [ + "0_edge_146_newN_0" + ], + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:37M28K1J0SGCOH577M3KL1C9XRVJA1", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.1104, + 2.85699, + -0.59746 + ], + "start_rotation": [ + 0, + 0.08171, + 0, + 0.99666 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.21364, + "euclidean_distance": 3.62318, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.79864, + 2.91628, + 1.86199 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "0_edge_134_newN_0", + "path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3RGU30DZTCBDQIEW4PTPUS79U89JMD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.37721, + 0.11628, + -0.54934 + ], + "start_rotation": [ + 0, + 0.76261, + 0, + 0.64685 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 4.73471, + "euclidean_distance": 4.46765, + "closest_goal_object_id": 214, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.85003, + 0.11628, + 3.72344 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "dc9eb48ee3324792889cc391d6d4098c", + "path": [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414" + ], + "refined_path": [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + [ + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3CP1TO84PV4FCFVI556BE9A666K25E", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.46197, + 2.91628, + 3.2977 + ], + "start_rotation": [ + 0, + 0.47771, + 0, + 0.87852 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 14.70263, + "euclidean_distance": 3.77995, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.00422, + 0.11628, + 3.21795 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "0_edge_77_newN_0", + "path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ], + "refined_path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + [ + "1e9bcf7676d44f2691efdeadc0d88d76" + ], + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3K3R2QNK8D67XE6WRFTYW8A08WC9UN", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.02221, + 3.11628, + -3.62635 + ], + "start_rotation": [ + 0, + 0.86598, + 0, + -0.50008 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.03021, + "euclidean_distance": 1.83928, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.02189, + 2.91628, + -1.76032 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "A5A14MTB35J23:3LJ7UR74RJGT5IGBDJLL157QE7JN4P", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.38436, + 3.11628, + -3.49554 + ], + "start_rotation": [ + 0, + 0.53011, + 0, + 0.84793 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.17183, + "euclidean_distance": 3.0535, + "closest_goal_object_id": 120, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -2.79585, + 2.91628, + -0.85954 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3PWWM24LHU1YZXEK33DEQTKX5ZC28A", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.37804, + 2.91628, + -4.36191 + ], + "start_rotation": [ + 0, + 0.55927, + 0, + -0.82899 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.27189, + "euclidean_distance": 4.0581, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.72129, + 2.91628, + -1.4433 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "0_edge_7_newN_1", + "path": [ + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + [ + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3X3OR7WPZ1340J0SD9VJ5PJ6BRXL8W", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.49034, + 2.91628, + 2.82852 + ], + "start_rotation": [ + 0, + 0.97412, + 0, + 0.22605 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 10.33098, + "euclidean_distance": 5.22174, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.18653, + 1.32519, + 1.30926 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "0cb5fac1789e42d5a99cc87f4ef8cb35", + "path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "743e6d37beae4b6482a43ae41e634e67", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0" + ], + "refined_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + [ + "4bb7642a8af44f97acb81190589a3451" + ], + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + [ + "2dea9de9cf5742398b17c3d6208bb56a" + ], + "743e6d37beae4b6482a43ae41e634e67", + [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b" + ], + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3WJ1OXY92CJN409OGI6TWB3U3RDA8Q", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.97055, + 0.11628, + -2.36864 + ], + "start_rotation": [ + 0, + 0.43699, + 0, + 0.89946 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.17403, + "euclidean_distance": 7.65063, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.64159, + 0.11628, + 3.69127 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "eb3364f96bed4877b27ce5e0cfa32702", + "path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "0_edge_82_newN_0", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + [ + "3c496aedd9d645a5b8d7a7b1b53f0636" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3300DTYQT4KW0HQWIHPFELEMWDFQEC", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.07831, + 3.11628, + -4.00067 + ], + "start_rotation": [ + 0, + 0.97215, + 0, + 0.23437 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 11.62405, + "euclidean_distance": 9.72901, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.05242, + 0.11628, + 3.12835 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3RKNTXVS3O1MLZMM4FGGFZNQIY54A6", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.42501, + 0.11628, + 2.04445 + ], + "start_rotation": [ + 0, + 0.91939, + 0, + -0.39334 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 7.43367, + "euclidean_distance": 6.94944, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.15928, + 0.11628, + -3.78278 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "db59566f6465453d88a27b5bcb19b096", + "path": [ + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "refined_path": [ + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3PEIJLRY6VWAQEDZPVEDUZHF0FPWX3", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.39409, + 0.11628, + -5.43485 + ], + "start_rotation": [ + 0, + 0.53908, + 0, + 0.84226 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.88075, + "euclidean_distance": 6.35616, + "closest_goal_object_id": 422, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.39871, + 0.11628, + -0.44898 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "dbcf0a37c275473094e1160770291679", + "path": [ + "dbcf0a37c275473094e1160770291679", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "dbcf0a37c275473094e1160770291679", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "dbcf0a37c275473094e1160770291679", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3O6CYIULEF4I9AJ4KQ3QASIB9TMWUK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.80462, + 0.11628, + -5.68256 + ], + "start_rotation": [ + 0, + 0.61143, + 0, + -0.7913 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.84024, + "euclidean_distance": 1.65813, + "closest_goal_object_id": 344, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.57483, + 0.11628, + -3.94324 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "0_edge_147_newN_0", + "path": [ + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_124_newN_0" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0" + ], + "refined_path": [ + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "0_edge_124_newN_0" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3VFJCI1K412UWW1N1R43JE93SUPGRU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.8565, + 0.11628, + 3.19356 + ], + "start_rotation": [ + 0, + 0.02385, + 0, + -0.99972 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 2.51942, + "euclidean_distance": 2.37429, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.21163, + 0.11628, + 3.42301 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "0_edge_204_newN_0", + "path": [ + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Locate the fireplace.", + "instr_encoding": [ + 101, + 12453, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "0_edge_204_newN_0", + "0_edge_204_newN_1", + [ + "0_edge_204_newN_0" + ], + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3YDGXNSEO1X82BT77HW2J8HVPD2482", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.44582, + 0.11628, + 1.93548 + ], + "start_rotation": [ + 0, + 0.93632, + 0, + -0.35115 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.35755, + "euclidean_distance": 9.66624, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.37529, + 0.11628, + -3.7055 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "dfa246b0d1fe4f08953b20151cf951c3", + "path": [ + "dfa246b0d1fe4f08953b20151cf951c3", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "dfa246b0d1fe4f08953b20151cf951c3", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "refined_path": [ + "dfa246b0d1fe4f08953b20151cf951c3", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + [ + "db59566f6465453d88a27b5bcb19b096" + ], + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3R6BYFZZP9F8FSR4Z64DQBVF5CLFXA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.34313, + 0.11628, + 1.03324 + ], + "start_rotation": [ + 0, + 0.46013, + 0, + -0.88785 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 5.61947, + "euclidean_distance": 4.90123, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.12284, + 0.11628, + -3.6843 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "3c5c466d4f64452a9e87c545d918c4eb", + "path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "refined_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:3QY5DC2MXTNGYOX9U1TQ64WBBD5UF0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.98375, + 2.91628, + 0.98175 + ], + "start_rotation": [ + 0, + 0.42066, + 0, + -0.90722 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 3.78148, + "euclidean_distance": 3.05899, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.40778, + 2.91628, + 2.87685 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "625eb179629b45f280c01d3f6ec74b4f", + "path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ], + "refined_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + [ + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b" + ], + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ] + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3LEIZ60CDL2OJD06X2S6D0PF9W69ZQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.10435, + 0.11628, + -0.69154 + ], + "start_rotation": [ + 0, + 0.95987, + 0, + -0.28044 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.83062, + "euclidean_distance": 3.21563, + "closest_goal_object_id": 291, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.80241, + 0.11628, + -3.7949 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "8b55e4f095374cfe8ddb0fda0f0dfa02", + "path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "refined_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3KGTPGBS6ZOWXULX66EJML2M2JSU2S", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.22198, + 2.91628, + 3.39804 + ], + "start_rotation": [ + 0, + 0.25904, + 0, + -0.96587 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 2.62928, + "euclidean_distance": 1.60825, + "closest_goal_object_id": 37, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.57251, + 2.91628, + 1.84211 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "0_edge_33_newN_1", + "path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A39EZ7V9T25RZO:32UTUBMZ7IZQYMATUPHZJ079XRTBVS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.98009, + 0.11628, + -3.10727 + ], + "start_rotation": [ + 0, + 0.49079, + 0, + -0.87128 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 11.18879, + "euclidean_distance": 10.30396, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.66432, + 0.11628, + 7.06812 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_80_newN_0", + "path": [ + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "0_edge_210_newN_0", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A272X64FOZFYLB:3PJ71Z61R65ROHFYPRJEL652JFJ190", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.2871, + 0.11628, + -1.66117 + ], + "start_rotation": [ + 0, + 0.76707, + 0, + 0.64157 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.67973, + "euclidean_distance": 7.02199, + "closest_goal_object_id": 197, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 1.21813, + 0.11628, + 5.19885 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "84928b00abef4a8489bcaa2ce410d1e5", + "path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3HWRJOOET758DX59ALEK9LTNEVQES3", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.33409, + 2.60062, + -0.29779 + ], + "start_rotation": [ + 0, + 0.47063, + 0, + -0.88233 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.32296, + "euclidean_distance": 5.03393, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.57261, + 2.91628, + -4.86169 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "9001b330086e4aa69799729560e6dca0", + "path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "8f25ebb1c23d4fddb035eb336426d5fa", + "5b821a3b87cd4ed3a7c4414199a0a740", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + [ + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0" + ], + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3GDTJDAPVWEO61IDDLWY52YUXAC8MM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.76023, + 0.11628, + -1.22889 + ], + "start_rotation": [ + 0, + 0.72803, + 0, + -0.68555 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 4.6808, + "euclidean_distance": 4.34857, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.40762, + 0.11628, + 3.14462 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "1f7f69e3874c48b8b9caf0548240603f", + "path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3IHR8NYAM94T83SOTYYD5UCLERX4PP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.75672, + 0.11628, + 0.19187 + ], + "start_rotation": [ + 0, + 0.9992, + 0, + -0.04009 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.35856, + "euclidean_distance": 3.70854, + "closest_goal_object_id": 412, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.27964, + 0.11628, + -1.28653 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "6a10ae81330345f794a55f2d96a86ea6", + "path": [ + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3RGU30DZTCBDQIEW4PTPUS78AWXMJU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.6644, + 2.91628, + 2.39754 + ], + "start_rotation": [ + 0, + 0.63877, + 0, + -0.7694 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.41681, + "euclidean_distance": 7.76121, + "closest_goal_object_id": 79, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.1678, + 2.91628, + -3.9307 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "4bb7642a8af44f97acb81190589a3451", + "path": [ + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_33_newN_1" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "refined_path": [ + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + [ + "4bb7642a8af44f97acb81190589a3451" + ], + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + [ + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ] + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3S06PH7KST73R7SF17OG72OTN2HD1V", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.59257, + 0.11628, + -4.95052 + ], + "start_rotation": [ + 0, + 0.53847, + 0, + -0.84265 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.69189, + "euclidean_distance": 5.93814, + "closest_goal_object_id": 319, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.53077, + 0.11628, + -4.76783 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "b3c99ac15d9546cd9d58a45647f63934", + "path": [ + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_146_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "refined_path": [ + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a" + ], + "0_edge_146_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0" + ], + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + [ + "1d8256878b534440b5ba54b31bfb210b" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + [ + "0cd0dd452a324496afd701e1c4b2e973" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:37W3JXSD68BZQJ39UR0FDDOOP5HYW0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.44009, + 0.11628, + 1.73708 + ], + "start_rotation": [ + 0, + 0.14534, + 0, + 0.98938 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.35163, + "euclidean_distance": 2.48995, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.0434, + 0.11628, + 2.67913 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "3c5c466d4f64452a9e87c545d918c4eb", + "path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ], + "refined_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:324G5B4FB5BN396NEBHUT5VMJXP70R", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.23101, + 2.91628, + 0.69722 + ], + "start_rotation": [ + 0, + 0.94655, + 0, + 0.32257 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 2.51307, + "euclidean_distance": 1.9968, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.70097, + 2.91628, + -0.75201 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "625eb179629b45f280c01d3f6ec74b4f", + "path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + "34a370fe2d1840e196a491db1e995e16", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f" + ], + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TVRFO09GMIUFK10LH7BLO0YM0QXLI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.64677, + 0.11628, + -4.32173 + ], + "start_rotation": [ + 0, + 0.83163, + 0, + 0.55533 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.78088, + "euclidean_distance": 4.65952, + "closest_goal_object_id": 267, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.89799, + 0.11628, + -0.91634 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "dbcf0a37c275473094e1160770291679", + "path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3ATTHHXXWCRSPJTU0EAYT887LXCIXP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.68067, + 0.11628, + -0.45411 + ], + "start_rotation": [ + 0, + 0.21326, + 0, + 0.977 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 13.96439, + "euclidean_distance": 3.96391, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.26084, + 2.91628, + 1.92535 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "0_edge_26_newN_1", + "path": [ + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3SB5N7Y3O576W2HO7ELOZI8GWIE0G9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.35211, + 2.91628, + -5.8704 + ], + "start_rotation": [ + 0, + 0.76382, + 0, + -0.64543 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 6.1871, + "euclidean_distance": 5.172, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.56491, + 2.91628, + -0.63433 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "8388153c198e4e4fb75cd8d0fd96d8a2", + "path": [ + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "refined_path": [ + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3X3OR7WPZ1340J0SD9VJ5PJ6BXK8LI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.2647, + 2.91628, + -1.36866 + ], + "start_rotation": [ + 0, + 0.96667, + 0, + -0.25602 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.11123, + "euclidean_distance": 2.27176, + "closest_goal_object_id": 163, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.55172, + 2.91628, + 0.81482 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "53672af2c15047818f2ead24a2370930", + "path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71" + ], + "refined_path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3LEP4MGT3I3445A734H5DE129E6BDA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.68962, + 0.11628, + -4.94895 + ], + "start_rotation": [ + 0, + 0.13298, + 0, + -0.99112 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.59868, + "euclidean_distance": 5.8411, + "closest_goal_object_id": 319, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.63098, + 0.11628, + -4.6204 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "b3c99ac15d9546cd9d58a45647f63934", + "path": [ + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "refined_path": [ + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + [ + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:38JBBYETQQDPBC3YKKI2BIDHZYLE4V", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.47933, + 2.91628, + 3.14004 + ], + "start_rotation": [ + 0, + 0.85416, + 0, + 0.52 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.2062, + "euclidean_distance": 7.99279, + "closest_goal_object_id": 79, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.08747, + 2.91628, + -4.05099 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_77_newN_1", + "path": [ + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ], + "refined_path": [ + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ] + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:39ZSFO5CAAZW3QJ5DRKBL2O34UOUJP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.72693, + 2.91628, + -1.65753 + ], + "start_rotation": [ + 0, + 0.97232, + 0, + -0.23367 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.43161, + "euclidean_distance": 6.17092, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.77471, + 2.91628, + 1.88823 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "53672af2c15047818f2ead24a2370930", + "path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "7cae5e5f8adf444d829c95b4a4412ffd", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:31LVTDXBL9DAIOFOCI1JW6EBOBTRLT", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.27878, + 2.91628, + 1.95576 + ], + "start_rotation": [ + 0, + 0.65358, + 0, + 0.75686 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.1325, + "euclidean_distance": 4.76243, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.97584, + 0.11628, + 2.53283 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "4bb7642a8af44f97acb81190589a3451", + "path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + [ + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3XXU1SWE8OY5MB4LLETE3WXDYVNA09", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.11236, + 2.91628, + -1.40454 + ], + "start_rotation": [ + 0, + 0.9596, + 0, + -0.28136 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 12.22933, + "euclidean_distance": 9.99538, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.60394, + 0.11628, + 7.03851 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A75XDPFNICR3T:34Q075JO1ZG9SNRLPV0LSV4AUZ510W", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.33645, + 0.11628, + -1.23887 + ], + "start_rotation": [ + 0, + 0.09594, + 0, + 0.99539 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.77298, + "euclidean_distance": 4.49968, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.30927, + 0.11628, + 3.22772 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "84928b00abef4a8489bcaa2ce410d1e5", + "path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3BEFOD78W8WNN0VB1I6LOQIPT6E4M7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.07236, + 0.11628, + 0.82856 + ], + "start_rotation": [ + 0, + 0.07032, + 0, + 0.99752 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 17.14102, + "euclidean_distance": 12.73588, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.72924, + 0.11628, + -1.67629 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "181c56d99ddd42ba8d4be09dbb135381", + "path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3LO69W1SU5GJTY6AW777X203JHPGLI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.95368, + 2.91628, + 3.36214 + ], + "start_rotation": [ + 0, + 0.26975, + 0, + 0.96293 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 11.22789, + "euclidean_distance": 9.07045, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.01035, + 2.91628, + -4.19496 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "0bcfce0d81294b7e84a7eed52cb04a4e", + "path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + "0_edge_126_newN_1", + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + "0_edge_126_newN_1", + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "refined_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + [ + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786" + ], + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ], + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5" + ], + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "0_edge_124_newN_0", + "ed7387d968874f4bbe512395b64405af", + "0_edge_126_newN_1", + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + [ + "db59566f6465453d88a27b5bcb19b096" + ], + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:31T4R4OBOUJ7X113QRAEO6XO9YK7CP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.92891, + 2.91628, + 5.33935 + ], + "start_rotation": [ + 0, + 0.98721, + 0, + -0.15943 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.94003, + "euclidean_distance": 2.62977, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.41419, + 2.91628, + 3.13691 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_30_newN_1", + "path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "0_edge_33_newN_1" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "refined_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + [ + "d97dee547dac432094720d127b49b347" + ], + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3DY4FPOOA3RDETRIQM3PJFCCE0CRV8", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.20122, + 0.11628, + -2.72548 + ], + "start_rotation": [ + 0, + 0.85679, + 0, + -0.51566 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.16446, + "euclidean_distance": 8.43086, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.51638, + 0.11628, + -1.64316 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "0_edge_146_newN_0", + "path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3NGMS9VZTNLRF60JZCYRK4V7NILFFL", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.32885, + 0.11628, + -3.1854 + ], + "start_rotation": [ + 0, + 0.46968, + 0, + -0.88284 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.52119, + "euclidean_distance": 1.96677, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.56149, + 0.11628, + -1.57159 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "0_edge_82_newN_0", + "path": [ + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3KB8R4ZV1GA7GPKY5UIDJZ4ZQHYBGM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.47476, + 0.11628, + 3.75262 + ], + "start_rotation": [ + 0, + 0.79741, + 0, + -0.60344 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 1.84273, + "euclidean_distance": 1.72773, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.26887, + 0.47866, + 2.57859 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "0_edge_204_newN_0", + "path": [ + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ], + "refined_path": [ + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + [ + "8f5a767771964a56b3708d5415c446b2" + ] + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:34S6N1K2ZXMXTU1LGDPPI2C40YGLH0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.21862, + 0.11628, + 2.38099 + ], + "start_rotation": [ + 0, + 0.1898, + 0, + -0.98182 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.86461, + "euclidean_distance": 4.64946, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.4319, + 2.91628, + -1.08929 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "0_edge_102_newN_0", + "path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3CP1TO84PV4FCFVI556BE9A6QTR25F", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.87114, + 0.11628, + 5.11463 + ], + "start_rotation": [ + 0, + 0.63833, + 0, + 0.76977 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.9231, + "euclidean_distance": 6.09896, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.17625, + 0.11628, + 3.30658 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "71472b1d6fbf4d6192ed9917bff8dba7", + "path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3KV0LJBBH4OUO6X9CU2YWJT0OGIRMU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.06166, + 2.91628, + 4.11167 + ], + "start_rotation": [ + 0, + 0.25048, + 0, + 0.96812 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.6446, + "euclidean_distance": 5.76453, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.63362, + 2.91628, + -1.16242 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "d97dee547dac432094720d127b49b347", + "path": [ + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:34Q075JO1ZG9SNRLPV0LSV49G5901V", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.93268, + 2.91628, + -1.96962 + ], + "start_rotation": [ + 0, + 0.39577, + 0, + -0.91835 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.92535, + "euclidean_distance": 5.07961, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.29518, + 2.91628, + 1.89484 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "3532b1e7ea1646848b710936d4696a5d", + "path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:37U1UTWH9XPF3HV5ITSFR1S437BR8D", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.80371, + 2.91628, + -0.65894 + ], + "start_rotation": [ + 0, + 0.79542, + 0, + 0.60606 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 4.43652, + "euclidean_distance": 3.86618, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.18387, + 2.91628, + -4.06812 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "dcced7b92f444b9a83bd7d54413fa486", + "path": [ + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "refined_path": [ + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3WMOAN2SRD0SZVZQXFM8AV72D94NV9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.38547, + 0.11628, + 1.61742 + ], + "start_rotation": [ + 0, + 0.66859, + 0, + -0.74363 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 13.29965, + "euclidean_distance": 12.10486, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.72083, + 0.11628, + -2.64711 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "dfa246b0d1fe4f08953b20151cf951c3", + "path": [ + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3QRYMNZ7F0KDM3V1SKMT9DJIHVQNTC", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.4148, + 2.91628, + 3.79926 + ], + "start_rotation": [ + 0, + 0.50976, + 0, + 0.86032 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 16.94005, + "euclidean_distance": 6.75397, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.68715, + 0.11628, + 7.10534 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0cb5fac1789e42d5a99cc87f4ef8cb35", + "path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3VNL7UK1XHM1YBIKUW3G18A9SKMFTO", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.21356, + 2.91628, + 3.59532 + ], + "start_rotation": [ + 0, + 0.9946, + 0, + -0.10374 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.00862, + "euclidean_distance": 4.3271, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.07914, + 0.11628, + 2.69884 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "0_edge_33_newN_1", + "path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3C8HJ7UOP9X3QXJ0MBWBIMVYUHHZMA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.24537, + 0.11628, + -1.63599 + ], + "start_rotation": [ + 0, + 0.96493, + 0, + -0.26252 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 6.29538, + "euclidean_distance": 5.96872, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.24876, + 0.11628, + 3.5853 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "1f7f69e3874c48b8b9caf0548240603f", + "path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Navigate to the fireplace.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3AZHRG4CU6N52Q50CZE4GOJ7VBW30Q", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.44781, + 0.11628, + 2.01581 + ], + "start_rotation": [ + 0, + 0.59154, + 0, + 0.80628 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 13.31321, + "euclidean_distance": 12.19447, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.71545, + 0.11628, + -2.64137 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_182_newN_0", + "path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A38AQF5BPHJS4C:3OF2M9AATIR809JX1ZJV393VO44KZD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.19979, + 2.91628, + -1.04011 + ], + "start_rotation": [ + 0, + 0.89455, + 0, + 0.44697 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.12734, + "euclidean_distance": 1.85634, + "closest_goal_object_id": 163, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.57388, + 2.91628, + 0.7917 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "7cae5e5f8adf444d829c95b4a4412ffd", + "path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314" + ], + "refined_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:39GAF6DQWT3PLOS1SSOADOU0OQ0V1Q", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.64303, + 2.91628, + -0.6194 + ], + "start_rotation": [ + 0, + 0.57885, + 0, + 0.81544 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 4.30106, + "euclidean_distance": 3.84082, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.17211, + 2.91628, + -4.09489 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "dcced7b92f444b9a83bd7d54413fa486", + "path": [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "refined_path": [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + [ + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3018Q3ZVOKTTM5OKFRCTNSY0786AR1", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.83911, + 2.91628, + 6.16108 + ], + "start_rotation": [ + 0, + 0.47796, + 0, + 0.87838 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.15414, + "euclidean_distance": 4.34173, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.34386, + 2.91628, + 1.83277 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "eba5ca774e2a41dfa6e22fbff7fe66d2", + "path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1" + ], + "refined_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3GM6G9ZBKP074LA1GJ7TWYUIC0PTMH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.42639, + 0.11628, + -3.96246 + ], + "start_rotation": [ + 0, + 0.51972, + 0, + -0.85434 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.24499, + "euclidean_distance": 4.60508, + "closest_goal_object_id": 422, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.34853, + 0.11628, + -0.37886 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "dbcf0a37c275473094e1160770291679", + "path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3TEM0PF1Q703KI7X5OKGTX5JJMID0O", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.14767, + 2.91628, + 2.16278 + ], + "start_rotation": [ + 0, + 0.61075, + 0, + 0.79182 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.53271, + "euclidean_distance": 8.94436, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.40085, + 2.91628, + -1.02797 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "4bb7642a8af44f97acb81190589a3451", + "path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3VAR3R6G1R4C643PQ1BBX6N091E8OP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.0229, + 2.91628, + -0.5683 + ], + "start_rotation": [ + 0, + 0.4316, + 0, + 0.90206 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.3664, + "euclidean_distance": 5.31808, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.11953, + 0.11628, + 2.89924 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "b8e48c0381644e26bee60d15b8afb47e", + "path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "34a370fe2d1840e196a491db1e995e16", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:358010RM5GWXBPDUZL9H8XY1TCHXV0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.00372, + 0.11628, + -3.41215 + ], + "start_rotation": [ + 0, + 0.59125, + 0, + 0.80649 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 18.89741, + "euclidean_distance": 12.95393, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.67774, + 0.11628, + 6.9216 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_146_newN_2", + "path": [ + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + [ + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A272X64FOZFYLB:3NJM2BJS4Y9W3753MD4VOSO8SCJCPF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.44503, + 2.91628, + 2.9449 + ], + "start_rotation": [ + 0, + 0.29105, + 0, + 0.95671 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 1.67129, + "euclidean_distance": 1.41461, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.21205, + 2.91628, + 1.86488 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "151812f86ba842afac3c1778a479610d", + "path": [ + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_30_newN_1", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + [ + "d97dee547dac432094720d127b49b347" + ], + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + [ + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d" + ], + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3HHRAGRYXA8CK9MZVTHPX2IBQ2C9OI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.57714, + 0.11628, + 2.26994 + ], + "start_rotation": [ + 0, + 0.74511, + 0, + -0.66694 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 9.19691, + "euclidean_distance": 3.87791, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.17768, + 2.91628, + -0.54912 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "0_edge_102_newN_0", + "path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3IQ1VMJRYVNNI5SYLAC7W7Y5LGB9AU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.21613, + 2.91628, + 4.92146 + ], + "start_rotation": [ + 0, + 0.14148, + 0, + 0.98994 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 4.67661, + "euclidean_distance": 3.16354, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.17531, + 2.91628, + 2.00554 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "0_edge_30_newN_1", + "path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "APGX2WZ59OWDN:3ZR9AIQJUDCQKMO4CDJNQTBCSM640T", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.02653, + 2.91628, + 2.96439 + ], + "start_rotation": [ + 0, + 0.69336, + 0, + -0.72059 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 13.34471, + "euclidean_distance": 8.32725, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.29892, + 2.91628, + 1.92612 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "0cb5fac1789e42d5a99cc87f4ef8cb35", + "path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A1198W1SPF1R4:3D3VGR7TA2IT2KPZ6CXJ0KKU417R3O", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.5343, + 0.11628, + 1.28116 + ], + "start_rotation": [ + 0, + 0.99806, + 0, + 0.06231 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 10.14281, + "euclidean_distance": 9.07759, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.70838, + 0.11628, + -2.78357 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "19c6928f8cc64d7aa2d18a48e3b4ee21", + "path": [ + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3MH9DQ757YFMCOT45LZ8OPWNBR8UGZ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.40733, + 0.11628, + 2.75711 + ], + "start_rotation": [ + 0, + 0.88815, + 0, + 0.45956 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.74049, + "euclidean_distance": 4.2739, + "closest_goal_object_id": 370, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.60834, + 0.11628, + -1.45036 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "10_edge_195_newN_0", + "path": [ + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3GA6AFUKOQRGDQBWA7LPMGIOHSRH3Z", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.57559, + 2.91628, + 6.40874 + ], + "start_rotation": [ + 0, + 0.44351, + 0, + 0.89627 + ], + "object_category": "table", + "info": { + "geodesic_distance": 9.41973, + "euclidean_distance": 8.49895, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.50422, + 2.91628, + -1.19435 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "81df67c58e324caca152f29eb64f6993", + "path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:354GIDR5ZD99LY63TCWLEQL0SZZ00F", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.35331, + 2.91628, + 0.47578 + ], + "start_rotation": [ + 0, + 0.42777, + 0, + 0.90389 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.80536, + "euclidean_distance": 5.39753, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.551, + 2.91628, + -4.82843 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "625eb179629b45f280c01d3f6ec74b4f", + "path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3OHYZ19UGE8QPSW4NZVPTXTVZPZOAU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.20861, + 2.91628, + -5.25367 + ], + "start_rotation": [ + 0, + 0.95891, + 0, + 0.28371 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 11.01874, + "euclidean_distance": 9.52631, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.11986, + 0.11628, + 2.97186 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "0_edge_169_newN_1", + "path": [ + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + [ + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:336KAV9KYSVDE352G7B8P68ZYEH2YQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.89658, + 3.11628, + -4.70124 + ], + "start_rotation": [ + 0, + 0.20164, + 0, + -0.97946 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.08187, + "euclidean_distance": 2.91654, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.03058, + 2.91628, + -1.8579 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa" + ], + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ], + "50629d10507840cba1ff155045d3f76b", + [ + "db59566f6465453d88a27b5bcb19b096" + ] + ] + }, + { + "episode_id": "A3PFU4042GIQLE:33FOTY3KEOOTMFM11BT5NW6ANOZC1F", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.35195, + 2.91628, + 2.04166 + ], + "start_rotation": [ + 0, + 0.76747, + 0, + -0.64109 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.99428, + "euclidean_distance": 4.38769, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.14757, + 0.11628, + 2.97926 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3" + ], + "refined_path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3QRYMNZ7F0KDM3V1SKMT9DJIX4XNTH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.9366, + 2.91628, + 4.55254 + ], + "start_rotation": [ + 0, + 0.94638, + 0, + -0.32307 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.76539, + "euclidean_distance": 4.47114, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.02896, + 0.11628, + 2.54027 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "d97dee547dac432094720d127b49b347", + "path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:384PI804XU49M7QF2EF5OWRJNSSS06", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.42569, + 2.91628, + 3.55181 + ], + "start_rotation": [ + 0, + 0.66837, + 0, + -0.74383 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.50592, + "euclidean_distance": 2.80297, + "closest_goal_object_id": 174, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.75677, + 2.91628, + 0.72339 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "0_edge_77_newN_0", + "path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f" + ], + "refined_path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1" + ], + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + [ + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:358010RM5GWXBPDUZL9H8XY0FHTXV6", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.28953, + 3.11628, + -3.56525 + ], + "start_rotation": [ + 0, + 0.76064, + 0, + -0.64917 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.01932, + "euclidean_distance": 9.26147, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.97035, + 2.91628, + 1.75847 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2GQH4SWIOFH2L:35L9RVQFCQL0CKOFPRHQ9P8OU6HUHS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.4923, + 0.11628, + -0.15413 + ], + "start_rotation": [ + 0, + 0.28892, + 0, + -0.95735 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.38839, + "euclidean_distance": 5.07792, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.28279, + 0.11628, + 3.16626 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "ed7387d968874f4bbe512395b64405af", + "path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "84928b00abef4a8489bcaa2ce410d1e5", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0" + ], + "refined_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ], + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0" + ] + ] + }, + { + "episode_id": "A3FPPZWMQOANR4:3ERMJ6L4D0VK6NDU3G4SR2203HXM75", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.76114, + 0.11628, + 5.13242 + ], + "start_rotation": [ + 0, + 0.31448, + 0, + -0.94927 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.28651, + "euclidean_distance": 7.04309, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.30799, + 0.11628, + -1.21774 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "5a89e430e6fb471189468fb44bbea75c", + "path": [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "refined_path": [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3Y54SXRO1NOQHTFAPLYFN8BC5V7UTN", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.39224, + 3.11628, + -3.90315 + ], + "start_rotation": [ + 0, + 0.75337, + 0, + -0.6576 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.33546, + "euclidean_distance": 3.92924, + "closest_goal_object_id": 129, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -2.56762, + 2.91628, + -0.11127 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3JMSRU9HQKXO5PMD4GJPK8DUCI3EVS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.9933, + 0.11628, + -0.73193 + ], + "start_rotation": [ + 0, + 0.99123, + 0, + 0.13215 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.88039, + "euclidean_distance": 3.19662, + "closest_goal_object_id": 291, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.72026, + 0.11628, + -3.83891 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "8b55e4f095374cfe8ddb0fda0f0dfa02", + "path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "refined_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3OE22WJIGKRDPDNI8H4KI30PLTKQUR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.17138, + 2.91628, + 3.28974 + ], + "start_rotation": [ + 0, + 0.0388, + 0, + 0.99925 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 13.64388, + "euclidean_distance": 3.47213, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.01156, + 0.11628, + 2.54627 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "0_edge_77_newN_1", + "path": [ + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A75XDPFNICR3T:32SVAV9L3HC1333I41BX5UVK4YWA3E", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.85676, + 0.11628, + 2.84329 + ], + "start_rotation": [ + 0, + 0.88037, + 0, + -0.47429 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 9.12013, + "euclidean_distance": 6.61714, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.41294, + 0.11628, + -2.11129 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "cdafd704291841daaa57ce008a95a06a", + "path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Find the fireplace.", + "instr_encoding": [ + 101, + 2424, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3UOUJI6MTFHXYAOUUVZCCBWHZ43XUM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.53409, + 2.91628, + -0.98635 + ], + "start_rotation": [ + 0, + 0.91587, + 0, + -0.40147 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 12.949, + "euclidean_distance": 5.33914, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.26855, + 0.11628, + 3.46411 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "0c2a97f049db4a429776940850fedf2e", + "path": [ + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ], + "instruction": "Locate the fireplace.", + "instr_encoding": [ + 101, + 12453, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ], + "refined_path": [ + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3AQF3RZ55ALVWD78YJVNQYIUSWD6FS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.34263, + 0.11628, + 5.25146 + ], + "start_rotation": [ + 0, + 0.94113, + 0, + -0.33804 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 10.31443, + "euclidean_distance": 9.59271, + "closest_goal_object_id": 427, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.71129, + 0.11628, + 1.94586 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "947f02de64db4ccbbe220a9f9124a815", + "path": [ + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ], + "refined_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815" + ], + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:34S9DKFK75S93PUV2Q9SHUBXC1ZNYG", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.88063, + 2.91628, + 2.36496 + ], + "start_rotation": [ + 0, + 0.63141, + 0, + -0.77545 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 1.56847, + "euclidean_distance": 1.20415, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.87964, + 2.91628, + 3.20994 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "d339130a5534437da266a71435143314", + "path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f" + ], + "refined_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + [ + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3Y54SXRO1NOQHTFAPLYFN8BC2XGTUW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.00927, + 0.11628, + -1.46438 + ], + "start_rotation": [ + 0, + 0.0227, + 0, + -0.99974 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 1.43046, + "euclidean_distance": 1.35607, + "closest_goal_object_id": 245, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.38065, + 0.11628, + -0.25158 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "84928b00abef4a8489bcaa2ce410d1e5", + "path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ], + "refined_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3U5NZHP4LT5NKFGJ85IWZJLPJKGHPX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.98757, + 2.91628, + 5.50639 + ], + "start_rotation": [ + 0, + 0.36145, + 0, + -0.93239 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.29668, + "euclidean_distance": 4.23759, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.11521, + 2.91628, + 1.8807 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "5635036d3bfb483eac283af7bb5ac986", + "path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986" + ], + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:38F5OAUN5PFYE9CJCJOFZXU4MVU7HD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.66238, + 0.11628, + -2.40322 + ], + "start_rotation": [ + 0, + 0.57572, + 0, + 0.81765 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.16987, + "euclidean_distance": 6.49898, + "closest_goal_object_id": 412, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.29834, + 0.11628, + -1.22848 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "61cac35d27254f8b8edba9601c4f8b5f", + "path": [ + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "0_edge_2_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ], + "refined_path": [ + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54" + ], + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3PZDLQMM0VO0B04XKFTJSFGGYI2C2I", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.82999, + 0.11628, + -4.93967 + ], + "start_rotation": [ + 0, + 0.70892, + 0, + -0.70529 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.13258, + "euclidean_distance": 8.40832, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.49905, + 0.11628, + 3.03573 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_33_newN_1" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16" + ], + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + [ + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347" + ], + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ] + ] + }, + { + "episode_id": "APRZ7BR8C0ZMQ:358UUM7WR16B33QM8O09D1WA688R7F", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.06851, + 2.91628, + 3.22875 + ], + "start_rotation": [ + 0, + 0.59048, + 0, + 0.80705 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 11.18366, + "euclidean_distance": 9.48364, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.92298, + 2.91628, + -4.23366 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "0cb5fac1789e42d5a99cc87f4ef8cb35", + "path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "refined_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0cb5fac1789e42d5a99cc87f4ef8cb35" + ], + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "A272X64FOZFYLB:35GCEFQ6I7R24BBQGTRWMNMTX9K3ZP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.61932, + 0.11628, + -3.26044 + ], + "start_rotation": [ + 0, + 0.95935, + 0, + -0.28223 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 12.42026, + "euclidean_distance": 11.47341, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.70644, + 0.11628, + 7.04019 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_146_newN_0", + "path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3NKQQ8O3908J04JD3VY0I4TPLSKDU7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.11168, + 0.11628, + 6.83679 + ], + "start_rotation": [ + 0, + 0.07542, + 0, + 0.99715 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.13519, + "euclidean_distance": 7.98215, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.18476, + 2.91628, + -0.4781 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "a844e7823fe4425f96a265b8fc557cb7", + "path": [ + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "a844e7823fe4425f96a265b8fc557cb7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3LPW2N6LKV5OWR4KOPGHKS5YPVJ5UB", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.94678, + 0.11628, + -3.17913 + ], + "start_rotation": [ + 0, + 0.71581, + 0, + -0.69829 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 11.60571, + "euclidean_distance": 8.96129, + "closest_goal_object_id": 197, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 1.16128, + 0.11628, + 5.22123 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "370411a65c3d4dc8bd475805ad0f4195", + "path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:34FNN24DCOC5D0OPYQD6NDBA44IY5D", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.01911, + 0.11628, + -2.00379 + ], + "start_rotation": [ + 0, + 0.18044, + 0, + 0.98359 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.60275, + "euclidean_distance": 3.08047, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.21448, + 0.11628, + -4.04013 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "4545f7a0d918401ebccdb6716a5f1fce", + "path": [ + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:35BLDD71I80MGKD903X25IEC0OHZVO", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.75469, + 0.11628, + 2.88139 + ], + "start_rotation": [ + 0, + 0.84017, + 0, + 0.54232 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.88086, + "euclidean_distance": 5.42782, + "closest_goal_object_id": 370, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.52675, + 0.11628, + -1.4937 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "b14dbfea048449aa8b8934cbf491a10a", + "path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "refined_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:38SKSKU7R30XPPC5MV7AIEDKEUHLIX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.17405, + 3.11628, + -5.05868 + ], + "start_rotation": [ + 0, + 0.93331, + 0, + -0.35907 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.27958, + "euclidean_distance": 5.86354, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.91807, + 2.91628, + -4.23069 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "0_edge_73_newN_0", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3C8HJ7UOP9X3QXJ0MBWBIMVZAIWZM9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.71138, + 0.11628, + -1.79148 + ], + "start_rotation": [ + 0, + 0.76684, + 0, + 0.64184 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 12.58842, + "euclidean_distance": 5.36188, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.21964, + 0.11628, + 3.51672 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "8b55e4f095374cfe8ddb0fda0f0dfa02", + "path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Find the fireplace.", + "instr_encoding": [ + 101, + 2424, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3R08VXYT7EYGBZ787IAF004RYS1W7B", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.59881, + 2.91628, + -5.89308 + ], + "start_rotation": [ + 0, + 0.99973, + 0, + 0.02335 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 14.34545, + "euclidean_distance": 13.40387, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.49278, + 0.11628, + 7.00892 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "8388153c198e4e4fb75cd8d0fd96d8a2", + "path": [ + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "8f25ebb1c23d4fddb035eb336426d5fa", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3H7XDTSHKEUZ4SI90LE96DHKK8QWGX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.75942, + 2.91628, + -0.06845 + ], + "start_rotation": [ + 0, + 0.12454, + 0, + 0.99221 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.99131, + "euclidean_distance": 8.31917, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.50402, + 2.91628, + -4.77943 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "34a370fe2d1840e196a491db1e995e16", + "path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3NC5L260MQPLLJDCYFHH7Y4LDC4OFS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.73509, + 2.91628, + -3.89016 + ], + "start_rotation": [ + 0, + 0.32765, + 0, + -0.9448 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 12.03129, + "euclidean_distance": 8.32217, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.23925, + 0.11628, + 3.42566 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "0_edge_9_newN_0", + "path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Locate the fireplace.", + "instr_encoding": [ + 101, + 12453, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3U0SRXB7CF806OI9OVHY9YI06TMNR7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.46602, + 0.11628, + 5.37136 + ], + "start_rotation": [ + 0, + 0.77491, + 0, + -0.63207 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 13.67736, + "euclidean_distance": 9.31089, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.68515, + 0.11628, + 7.06813 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "1e597325e01d4a9aa332e92abc455414", + "path": [ + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:34BBWHLWHCED0JO4Q9ECRPU0FUXWI2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.75644, + 0.11628, + -3.2854 + ], + "start_rotation": [ + 0, + 0.9901, + 0, + -0.1404 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.50875, + "euclidean_distance": 5.87406, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.27416, + 2.91628, + 1.87493 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_210_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + [ + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3MX2NQ3YCBXGDVYFTUR44Z42JB8X5Z", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.7656, + 0.11628, + 0.52624 + ], + "start_rotation": [ + 0, + 0.16581, + 0, + 0.98616 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 19.07615, + "euclidean_distance": 15.48377, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.71029, + 0.11628, + -1.67295 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "0_edge_126_newN_1", + "path": [ + "0_edge_126_newN_1", + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_126_newN_1", + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "0_edge_126_newN_1", + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:34QN5IT0T1UR3NB6OG9075RHUIK806", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.82646, + 2.91628, + 3.53748 + ], + "start_rotation": [ + 0, + 0.89276, + 0, + -0.45053 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 12.06939, + "euclidean_distance": 8.34697, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.0439, + 2.91628, + -4.19608 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "0_edge_161_newN_0", + "path": [ + "0_edge_161_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_161_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "refined_path": [ + "0_edge_161_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:378XPAWRUEGGT6L1P4IK90X9NGIIAB", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.61521, + 2.91628, + -1.82229 + ], + "start_rotation": [ + 0, + 0.55664, + 0, + -0.83075 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.80144, + "euclidean_distance": 5.74739, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.06687, + 0.11628, + 2.73347 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "ARQR5NIFA1AJ:3QRYMNZ7F0KDM3V1SKMT9DJIX0XTNF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.73503, + 2.91628, + 1.75281 + ], + "start_rotation": [ + 0, + 0.9996, + 0, + -0.02812 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.83242, + "euclidean_distance": 6.14417, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.73346, + 2.91628, + 1.84052 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "d339130a5534437da266a71435143314", + "path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3OS4RQUCRBI12PO3UACV1E4M6D0FBU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.2151, + 2.91628, + 2.42595 + ], + "start_rotation": [ + 0, + 0.45114, + 0, + -0.89245 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.55136, + "euclidean_distance": 3.51991, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.07003, + 0.11628, + 2.68982 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A3F0NFNLOLFJT0:3NPFYT4IZE7ETSNZAQAV8WVQS7QGXV", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.16244, + 0.11628, + 6.04668 + ], + "start_rotation": [ + 0, + 0.68925, + 0, + -0.72452 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 18.63402, + "euclidean_distance": 17.23699, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.62447, + 0.11628, + -2.82616 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "947f02de64db4ccbbe220a9f9124a815", + "path": [ + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + [ + "947f02de64db4ccbbe220a9f9124a815" + ], + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0" + ], + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "AK35CJJEYFVYK:3JC6VJ2SADM4HIQMIKZQKRT31165AD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.34431, + 2.4502, + -0.1322 + ], + "start_rotation": [ + 0, + 0.9483, + 0, + 0.31736 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.70217, + "euclidean_distance": 4.24251, + "closest_goal_object_id": 87, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.23056, + 2.91628, + -4.40696 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "9001b330086e4aa69799729560e6dca0", + "path": [ + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3GGAI1SQEX1QI48QUXC37OUDN2LCMM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.75664, + 2.91628, + -1.28866 + ], + "start_rotation": [ + 0, + 0.39601, + 0, + -0.91825 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.73872, + "euclidean_distance": 5.50597, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.29759, + 2.91628, + 1.85745 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "0_edge_110_newN_0", + "path": [ + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3KYQYYSHYXAONZZG79MRJY11HV8DO0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.84896, + 2.91628, + 3.53748 + ], + "start_rotation": [ + 0, + 0.07917, + 0, + -0.99686 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.97456, + "euclidean_distance": 2.73047, + "closest_goal_object_id": 174, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.71429, + 2.91628, + 0.69501 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "0_edge_161_newN_0", + "path": [ + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3RGU30DZTCBDQIEW4PTPUS79R75MJ7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.62459, + 2.91628, + -1.79094 + ], + "start_rotation": [ + 0, + 0.6208, + 0, + 0.78397 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.39652, + "euclidean_distance": 4.50739, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.32271, + 2.91628, + 1.92517 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "5f4fd3bd58144211a8617caa5570e40c", + "path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "AK35CJJEYFVYK:3VW04L3ZLV9PFEIPZ0AZWIVMW0QXXH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.24295, + 1.94391, + 0.61499 + ], + "start_rotation": [ + 0, + 0.99103, + 0, + 0.13366 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.40148, + "euclidean_distance": 5.96741, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.49844, + 2.91628, + -4.69065 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "c4fc538718cc4918884d2040ce523a5f", + "path": [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3ZPPDN2SLXZQ8I9A1FETSQOXM8F9E3", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.42594, + 2.91628, + 5.00876 + ], + "start_rotation": [ + 0, + 0.95166, + 0, + -0.30715 + ], + "object_category": "table", + "info": { + "geodesic_distance": 7.42115, + "euclidean_distance": 6.36994, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.69806, + 2.91628, + -1.20865 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "d97dee547dac432094720d127b49b347", + "path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:3FDJT1UU76BATVZ8UBCFE5W0K8D5KB", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.24361, + 2.91628, + 5.43733 + ], + "start_rotation": [ + 0, + 0.10018, + 0, + -0.99497 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.81367, + "euclidean_distance": 10.30046, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.48651, + 2.91628, + -4.66588 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "5635036d3bfb483eac283af7bb5ac986", + "path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_7_newN_1" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1" + ], + "refined_path": [ + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + [ + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986" + ], + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1" + ] + }, + { + "episode_id": "A272X64FOZFYLB:34Q075JO1ZG9SNRLPV0LSV49GBS10R", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.78369, + 0.11628, + 0.32746 + ], + "start_rotation": [ + 0, + 0.33656, + 0, + -0.94166 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 15.3999, + "euclidean_distance": 13.74777, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.20024, + 0.11628, + -4.11778 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "ed7387d968874f4bbe512395b64405af", + "path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_126_newN_1", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_126_newN_1", + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "refined_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_126_newN_1", + [ + "ed7387d968874f4bbe512395b64405af" + ], + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ] + }, + { + "episode_id": "A17OSPGV41FZ7P:3MMN5BL1W17254C71412ELQKYDOM39", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.67929, + 0.11628, + 3.72637 + ], + "start_rotation": [ + 0, + 0.98163, + 0, + 0.19081 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 3.89565, + "euclidean_distance": 3.28516, + "closest_goal_object_id": 197, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 1.29941, + 0.11628, + 5.22594 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "6561b21dac894dfca3473db3037dbfad", + "path": [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3JV9LGBJWVHRZJ979ZNZPJ4XESEOG3", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.06773, + 0.11628, + 6.46749 + ], + "start_rotation": [ + 0, + 0.95827, + 0, + 0.28587 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.37753, + "euclidean_distance": 6.33981, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.98797, + 0.11628, + 2.60751 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "0_edge_157_newN_0", + "path": [ + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ], + "refined_path": [ + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3WOKGM4L73JUOFYMVXYW4RHIN450OW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.78955, + 0.11628, + -5.62437 + ], + "start_rotation": [ + 0, + 0.03702, + 0, + 0.99931 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 12.6489, + "euclidean_distance": 11.30122, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.73801, + 0.11628, + -2.7393 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "723a213fbaa847f2a44feac9246fd7b1", + "path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A302KOFOYLD89A:33SA9F9TRZX1KEMIUQOL6AW8N17EWS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.62145, + 0.11628, + 2.82656 + ], + "start_rotation": [ + 0, + 0.10065, + 0, + 0.99492 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.93806, + "euclidean_distance": 10.31216, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.49304, + 0.11628, + 3.88483 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "bfd18e7fa8894c26a00f0cad55b31f76", + "path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_33_newN_1" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "refined_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + [ + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + [ + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3HFNH7HEMJHUKVMNOCF3EOZY9OBQG0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.30871, + 1.15982, + 1.58079 + ], + "start_rotation": [ + 0, + 0.11855, + 0, + 0.99295 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 3.2624, + "euclidean_distance": 2.77778, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.03693, + 0.11628, + 2.89079 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "673ae67937804c42b3c22e93efb5d069", + "path": [ + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3KV0LJBBH4OUO6X9CU2YWJT00EPMR4", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.80831, + 2.91628, + -1.47987 + ], + "start_rotation": [ + 0, + 0.02937, + 0, + 0.99957 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.65393, + "euclidean_distance": 2.88537, + "closest_goal_object_id": 87, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.32154, + 2.91628, + -4.2818 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "3532b1e7ea1646848b710936d4696a5d", + "path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a" + ], + "refined_path": [ + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3NOKK93PR3B73E0R9QUFK4P8G1KEE2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.81693, + 0.11628, + 3.08745 + ], + "start_rotation": [ + 0, + 0.90935, + 0, + 0.41603 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.12415, + "euclidean_distance": 1.94892, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.07122, + 0.11628, + 2.15122 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "6561b21dac894dfca3473db3037dbfad", + "path": [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3DL65MZB8FIS6GGDDZOKUGP5VPTECV", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.43836, + 3.11628, + -5.25311 + ], + "start_rotation": [ + 0, + 0.43244, + 0, + 0.90166 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.49, + "euclidean_distance": 4.65801, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.99733, + 2.91628, + -4.13004 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "4e1ad142e5844d21a376040600184d9a", + "path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "8f25ebb1c23d4fddb035eb336426d5fa", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "refined_path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3EO896NRAYYH3D4GDMU1G621LGZTJF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.17099, + 2.91628, + -1.59989 + ], + "start_rotation": [ + 0, + 0.11147, + 0, + -0.99377 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 13.0437, + "euclidean_distance": 11.21658, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.94266, + 2.91628, + 1.75993 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "743e6d37beae4b6482a43ae41e634e67", + "path": [ + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3RKNTXVS3O1MLZMM4FGGFZNP15BA4D", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.26368, + 3.11628, + -4.5822 + ], + "start_rotation": [ + 0, + 0.935, + 0, + -0.35464 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.64539, + "euclidean_distance": 4.82859, + "closest_goal_object_id": 129, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -2.61643, + 2.91628, + -0.22974 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ] + }, + { + "episode_id": "A75XDPFNICR3T:351SEKWQS2K0NWE4UT7ERUCWMVMDME", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.99407, + 0.11628, + 2.47312 + ], + "start_rotation": [ + 0, + 0.83991, + 0, + 0.54272 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 7.8522, + "euclidean_distance": 7.02839, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.16703, + 0.11628, + -3.81054 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "50629d10507840cba1ff155045d3f76b", + "path": [ + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "fea7a9db41944d76b258036b046d13aa", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "refined_path": [ + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + [ + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + [ + "db59566f6465453d88a27b5bcb19b096" + ], + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + [ + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ] + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3Y54SXRO1NOQHTFAPLYFN8BBMWDUTA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.25814, + 0.11628, + 2.95386 + ], + "start_rotation": [ + 0, + 0.71077, + 0, + -0.70343 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 11.76648, + "euclidean_distance": 5.00026, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.45495, + 2.91628, + -0.97809 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "45af7750dab04ee9931d8c9a1ce9ee7d", + "path": [ + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c" + ], + "refined_path": [ + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3MD9PLUKKKH98F40YCBBV1KZF8MNZD", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.38423, + 3.11628, + -4.3439 + ], + "start_rotation": [ + 0, + 0.68517, + 0, + 0.72838 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.064, + "euclidean_distance": 7.98627, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.07216, + 0.11628, + 2.60772 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "AU2C0Q45DVGJO:3BXQMRHWK11M4YPQGOX31UGKBTDUM0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.54824, + 2.91628, + -1.08231 + ], + "start_rotation": [ + 0, + 0.30273, + 0, + -0.95308 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 9.9589, + "euclidean_distance": 6.02754, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.2562, + 0.11628, + 3.52202 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "b8e48c0381644e26bee60d15b8afb47e", + "path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_157_newN_0" + ], + "instruction": "Go to the fireplace.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_157_newN_0", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + [ + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d" + ], + "71472b1d6fbf4d6192ed9917bff8dba7", + "0_edge_157_newN_0", + [ + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3HMIGG0U4N9O0I7RWOK9ZXL2N9WY85", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.73093, + 0.11628, + -1.31935 + ], + "start_rotation": [ + 0, + 0.30784, + 0, + -0.95144 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 6.23438, + "euclidean_distance": 4.48393, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.27624, + 0.11628, + -1.88827 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "4545f7a0d918401ebccdb6716a5f1fce", + "path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3EWIJTFFVQA8COLX1JV0ZFN331R0E0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.92381, + 0.11628, + 4.57593 + ], + "start_rotation": [ + 0, + 0.95102, + 0, + 0.30913 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 15.382, + "euclidean_distance": 13.83406, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.67139, + 0.11628, + -2.79856 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "46631317e8684d3f98f0b9c7d3c51417", + "path": [ + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_146_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417" + ], + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a" + ], + "0_edge_146_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0" + ], + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "AXYF8V8B0SPPR:3MMN5BL1W17254C71412ELQKVNX3MG", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.04435, + 2.95179, + 1.65567 + ], + "start_rotation": [ + 0, + 0.37889, + 0, + 0.92544 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 11.30154, + "euclidean_distance": 4.41283, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.97912, + 0.11628, + 3.20204 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A35CL66BEUSJ5Z:37M28K1J0SGCOH577M3KL1C9X3OJAI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.22915, + 2.91628, + -1.79752 + ], + "start_rotation": [ + 0, + 0.14045, + 0, + 0.99009 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.43936, + "euclidean_distance": 5.92466, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.93174, + 0.11628, + 3.15849 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "0_edge_110_newN_0", + "path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "34a370fe2d1840e196a491db1e995e16", + "8f25ebb1c23d4fddb035eb336426d5fa", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0" + ], + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3TESA3PJ33D3RQKH7M6HAKZPHDOMM7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.51447, + 2.91628, + 2.34213 + ], + "start_rotation": [ + 0, + 0.91126, + 0, + 0.41184 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 1.71468, + "euclidean_distance": 1.52287, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.80155, + 2.91628, + 3.2386 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "d339130a5534437da266a71435143314", + "path": [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "0_edge_161_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "0_edge_161_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76" + ], + "refined_path": [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "0_edge_161_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + [ + "1e9bcf7676d44f2691efdeadc0d88d76" + ] + ] + }, + { + "episode_id": "ALZVG5501Y5IX:3Q5ZZ9ZEVQIQYUX7LMFCO0N9S2W58W", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.23128, + 0.11628, + -0.274 + ], + "start_rotation": [ + 0, + 0.0437, + 0, + -0.99904 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 14.11159, + "euclidean_distance": 12.55469, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.71204, + 0.11628, + 3.72449 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ed7387d968874f4bbe512395b64405af", + "path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "dfa246b0d1fe4f08953b20151cf951c3", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + [ + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0" + ], + "dfa246b0d1fe4f08953b20151cf951c3", + [ + "cdafd704291841daaa57ce008a95a06a" + ], + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3HMIGG0U4N9O0I7RWOK9ZXL14JZ8YH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.59613, + 2.91628, + 1.90738 + ], + "start_rotation": [ + 0, + 0.93784, + 0, + -0.34708 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 9.84448, + "euclidean_distance": 3.44464, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.0477, + 0.11628, + 3.20239 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "0_edge_185_newN_1", + "path": [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3X4MXAO0BIRQTIRNGW8L5HVQL5XRWT", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.91088, + 2.91628, + -1.04474 + ], + "start_rotation": [ + 0, + 0.93957, + 0, + -0.34235 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.57692, + "euclidean_distance": 4.44245, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.2741, + 2.91628, + 1.9283 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "0_edge_134_newN_0", + "path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:32AT8R96GNCP2T2V0LTPD3FPKH9SU1", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 3.11489, + 0.11628, + 2.14324 + ], + "start_rotation": [ + 0, + 0.76591, + 0, + -0.64295 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 16.73559, + "euclidean_distance": 14.74296, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.27229, + 0.11628, + -4.19143 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "0_edge_126_newN_0", + "path": [ + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679" + ], + "refined_path": [ + "0_edge_126_newN_0", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3N1FSUEFL73KJ6PYOP7I50VWNOO4DO", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.18964, + 0.11628, + -4.05084 + ], + "start_rotation": [ + 0, + 0.97521, + 0, + -0.22127 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 1.87123, + "euclidean_distance": 1.78129, + "closest_goal_object_id": 353, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.37225, + 0.11628, + -3.78457 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1" + ], + "refined_path": [ + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3TEM0PF1Q703KI7X5OKGTX5JJK30DS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.0142, + 0.11628, + 2.51675 + ], + "start_rotation": [ + 0, + 0.54823, + 0, + -0.83633 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 14.89998, + "euclidean_distance": 8.75163, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.26377, + 2.91628, + 1.89862 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "cdafd704291841daaa57ce008a95a06a", + "path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:35BLDD71I80MGKD903X25IEC44XVZ0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.54264, + 0.11628, + 2.62961 + ], + "start_rotation": [ + 0, + 0.47803, + 0, + -0.87834 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 15.49824, + "euclidean_distance": 12.94764, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.62886, + 0.11628, + 7.08662 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "b14dbfea048449aa8b8934cbf491a10a", + "path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:38SKSKU7R30XPPC5MV7AIEDJ0C4LI4", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.39045, + 0.11628, + -0.84144 + ], + "start_rotation": [ + 0, + 0.99598, + 0, + 0.08963 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 11.814, + "euclidean_distance": 10.36608, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.16621, + 0.11628, + -4.01609 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "dc9eb48ee3324792889cc391d6d4098c", + "path": [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "refined_path": [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3SNLUL3WO6Q2YG75GCWO1H1VVDPULY", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.29639, + 2.91628, + 5.03908 + ], + "start_rotation": [ + 0, + 0.97645, + 0, + 0.21577 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 15.56582, + "euclidean_distance": 3.7019, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.22572, + 0.11628, + 3.45598 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "0_edge_30_newN_1", + "path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Navigate to the fireplace.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A38AQF5BPHJS4C:3LUY3GC6313QRQA7VWWK86WV8L8P72", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.48658, + 0.11628, + 2.84813 + ], + "start_rotation": [ + 0, + 0.79424, + 0, + 0.6076 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 13.66514, + "euclidean_distance": 12.61343, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.23976, + 0.11628, + -3.75219 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "bfd18e7fa8894c26a00f0cad55b31f76", + "path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_1", + "0_edge_146_newN_2", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_146_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "refined_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0", + [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_147_newN_1", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_146_newN_2", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1" + ], + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a" + ], + "0_edge_146_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3HVVDCPGTGV7Y2ZFZMV4QTHOIF4YTI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.75969, + 0.11628, + -4.56913 + ], + "start_rotation": [ + 0, + 0.61164, + 0, + -0.79113 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.35953, + "euclidean_distance": 8.91814, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.3157, + 2.91628, + 1.86792 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_102_newN_0", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3R3YRB5GRH6L2XG1JL7YS3LKEJRAUA", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.64632, + 2.91628, + 3.08717 + ], + "start_rotation": [ + 0, + 0.75326, + 0, + -0.65772 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.93389, + "euclidean_distance": 3.25092, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.94588, + 0.11628, + 3.14778 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "0_edge_33_newN_1", + "path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ], + "refined_path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0" + ] + }, + { + "episode_id": "A35CL66BEUSJ5Z:3PEIJLRY6VWAQEDZPVEDUZHF38CXWG", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.65332, + 0.11628, + -1.45783 + ], + "start_rotation": [ + 0, + 0.57068, + 0, + 0.82117 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.67975, + "euclidean_distance": 5.91377, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.59422, + 0.11628, + -1.65392 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "0cd0dd452a324496afd701e1c4b2e973", + "path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3ZV9H2YQQFAYAG6L567PNJSBTDHW3I", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.08987, + 2.91628, + -7.36713 + ], + "start_rotation": [ + 0, + 0.96623, + 0, + 0.25769 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.10182, + "euclidean_distance": 9.27998, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.80474, + 2.91628, + 1.79678 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "0_edge_50_newN_0", + "path": [ + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3RYC5T2D75W099UM4AUQDNNUS84PR6", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.40135, + 2.91628, + 3.09833 + ], + "start_rotation": [ + 0, + 0.96745, + 0, + 0.25305 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.14234, + "euclidean_distance": 3.00245, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.16209, + 1.2157, + 1.4588 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "0_edge_77_newN_0", + "path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "AOWW3URQNRJ6U:3HFNH7HEMJHUKVMNOCF3EOZYCLMQG8", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.2088, + 0.11628, + 2.6344 + ], + "start_rotation": [ + 0, + 0.70515, + 0, + -0.70905 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 5.25308, + "euclidean_distance": 4.95581, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.29073, + 0.11628, + -1.93029 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "b14dbfea048449aa8b8934cbf491a10a", + "path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "instruction": "Go to the fireplace.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "refined_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3XCC1ODXDNEL9LV14N9FDSD5ET5RQB", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.064, + 2.91628, + -0.39766 + ], + "start_rotation": [ + 0, + 0.99897, + 0, + -0.04534 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 13.61068, + "euclidean_distance": 12.55486, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.45177, + 2.91628, + -1.04904 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "f3dd1c323fde4f6fa5056433cdd92fa7", + "path": [ + "f3dd1c323fde4f6fa5056433cdd92fa7", + "0_edge_122_newN_0", + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "f3dd1c323fde4f6fa5056433cdd92fa7", + "0_edge_122_newN_0", + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "f3dd1c323fde4f6fa5056433cdd92fa7", + "0_edge_122_newN_0", + "743e6d37beae4b6482a43ae41e634e67", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3T3IWE1XG8QYP08T8CEAD7EN2B9QTO", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.91293, + 0.11628, + -3.60544 + ], + "start_rotation": [ + 0, + 0.34703, + 0, + -0.93785 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 2.55345, + "euclidean_distance": 1.98175, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.69822, + 0.11628, + -1.65436 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "674b3b6705604a4c8b89182edee11e54", + "path": [ + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54" + ], + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3OF2M9AATIR809JX1ZJV393V8RKZK2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.60588, + 2.91628, + 2.89919 + ], + "start_rotation": [ + 0, + 0.88736, + 0, + 0.46107 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.25355, + "euclidean_distance": 5.01249, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.49888, + 2.91628, + -1.0829 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "0_edge_33_newN_1", + "path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930" + ], + "refined_path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3L0KT67Y8GJ6J2M0AMQEGOL2GRKSY7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.18655, + 0.11628, + -2.10597 + ], + "start_rotation": [ + 0, + 0.1437, + 0, + -0.98962 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 14.1864, + "euclidean_distance": 10.54087, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.27007, + 0.11628, + 3.05357 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "84928b00abef4a8489bcaa2ce410d1e5", + "path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "0_edge_82_newN_0", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + [ + "3c496aedd9d645a5b8d7a7b1b53f0636" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3180JW2OT6FFIBTQCQC3DQWN427J5L", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.60637, + 2.91628, + -1.42457 + ], + "start_rotation": [ + 0, + 0.63019, + 0, + 0.77644 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.98061, + "euclidean_distance": 2.66446, + "closest_goal_object_id": 79, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.15273, + 2.91628, + -4.02746 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "5f4fd3bd58144211a8617caa5570e40c", + "path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "c4fc538718cc4918884d2040ce523a5f", + "4bb7642a8af44f97acb81190589a3451", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0_edge_77_newN_1", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "refined_path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "c4fc538718cc4918884d2040ce523a5f", + [ + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16" + ], + "4bb7642a8af44f97acb81190589a3451", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314" + ], + "0_edge_77_newN_1", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ] + ] + }, + { + "episode_id": "AXY0D2AMLKE2A:32AT8R96GNCP2T2V0LTPD3FPM09US7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.78657, + 0.11628, + 5.73964 + ], + "start_rotation": [ + 0, + 0.99252, + 0, + -0.12208 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.74649, + "euclidean_distance": 7.87443, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.4287, + 2.91628, + -1.03062 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "e5f8d864ab7545d3bae0e56a527041ec", + "path": [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + [ + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096" + ], + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + [ + "fea7a9db41944d76b258036b046d13aa" + ], + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3B2X28YI3YI5JWVSTH9R78R9D2LB6N", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.3925, + 0.11628, + 0.18 + ], + "start_rotation": [ + 0, + 0.22579, + 0, + -0.97418 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 7.83596, + "euclidean_distance": 5.27416, + "closest_goal_object_id": 197, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 1.16409, + 0.11628, + 5.23586 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "181c56d99ddd42ba8d4be09dbb135381", + "path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + [ + "181c56d99ddd42ba8d4be09dbb135381" + ], + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3G5W44VEU9L89SOSB7V6I2NOWM8KGJ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.37974, + 2.91628, + 1.84339 + ], + "start_rotation": [ + 0, + 0.98158, + 0, + -0.19107 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.79569, + "euclidean_distance": 1.89151, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.85881, + 2.91628, + 3.04473 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "0_edge_185_newN_1", + "path": [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "refined_path": [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3K772S5NPAEJNORTZR2L57ML8EGHEJ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.03797, + 0.11628, + 0.008 + ], + "start_rotation": [ + 0, + 0.37748, + 0, + 0.92602 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 10.20135, + "euclidean_distance": 8.9286, + "closest_goal_object_id": 319, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.64605, + 0.11628, + -4.6169 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "0_edge_124_newN_0", + "path": [ + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_102_newN_0" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "refined_path": [ + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1" + ], + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0", + [ + "1d8256878b534440b5ba54b31bfb210b" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + [ + "e5e6c99e38014827b50ad33cd22e3c9d" + ], + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "3c496aedd9d645a5b8d7a7b1b53f0636", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ] + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3G5W44VEU9L89SOSB7V6I2NOU72KGH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.86128, + 2.91628, + 4.10989 + ], + "start_rotation": [ + 0, + 0.2099, + 0, + -0.97772 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.96557, + "euclidean_distance": 3.73904, + "closest_goal_object_id": 41, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.23348, + 3.11628, + 1.23326 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "d97dee547dac432094720d127b49b347", + "path": [ + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_30_newN_1", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + [ + "d97dee547dac432094720d127b49b347" + ], + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5", + [ + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3HWRJOOET758DX59ALEK9LTM0CMSEV", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.13343, + 3.11628, + -4.78736 + ], + "start_rotation": [ + 0, + 0.19726, + 0, + 0.98035 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.83128, + "euclidean_distance": 3.86354, + "closest_goal_object_id": 120, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -2.82151, + 2.91628, + -0.83487 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "0_edge_146_newN_1", + "path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ], + "refined_path": [ + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3NQL1CS15TBMBU344HVJRB5AY4KVYO", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.60932, + 2.91628, + -0.58104 + ], + "start_rotation": [ + 0, + 0.96583, + 0, + -0.25917 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.15716, + "euclidean_distance": 6.16606, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.24854, + 1.27896, + 1.37681 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "8f25ebb1c23d4fddb035eb336426d5fa", + "path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "refined_path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:32VNZTT0A97EKG836Q22APC0F5TR44", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.371, + 0.11628, + -5.69557 + ], + "start_rotation": [ + 0, + 0.85545, + 0, + -0.51789 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.17196, + "euclidean_distance": 1.81304, + "closest_goal_object_id": 344, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.49513, + 0.11628, + -4.08105 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "0_edge_147_newN_0", + "path": [ + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "refined_path": [ + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ] + }, + { + "episode_id": "A2KOR4003SVNC5:33IZTU6J834HJXWQ5Q4CXAEUUV7XSP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.41005, + 3.11628, + -3.73762 + ], + "start_rotation": [ + 0, + 0.63771, + 0, + -0.77028 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.99263, + "euclidean_distance": 9.43491, + "closest_goal_object_id": 69, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.43491, + 2.91628, + -1.00365 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3K9FOBBF2JMP3QNWJBK2NM913MLLNC", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.50698, + 3.11628, + -4.94554 + ], + "start_rotation": [ + 0, + 0.72221, + 0, + 0.69167 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 10.22512, + "euclidean_distance": 8.71129, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.17419, + 1.33375, + 1.31773 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "0_edge_146_newN_1", + "path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "9001b330086e4aa69799729560e6dca0", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "refined_path": [ + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa" + ], + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3LPW2N6LKV5OWR4KOPGHKS5Y9KF5U5", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.40202, + 2.91628, + 3.27587 + ], + "start_rotation": [ + 0, + 0.9489, + 0, + -0.31556 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 13.27817, + "euclidean_distance": 6.25654, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.87896, + 0.11628, + 3.15333 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "0cb5fac1789e42d5a99cc87f4ef8cb35", + "path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3AWETUDC94VHUET91WYJQTOIGOXIZE", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.74722, + 0.11628, + -5.12396 + ], + "start_rotation": [ + 0, + 0.38748, + 0, + 0.92188 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.16447, + "euclidean_distance": 5.1887, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.46383, + 0.11628, + -2.50507 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "dbcf0a37c275473094e1160770291679", + "path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:358UUM7WR16B33QM8O09D1WA66OR7R", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.44484, + 0.11628, + -2.7649 + ], + "start_rotation": [ + 0, + 0.96197, + 0, + 0.27314 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 11.6435, + "euclidean_distance": 8.87424, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.316, + 0.11628, + -4.16587 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "370411a65c3d4dc8bd475805ad0f4195", + "path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3X73LLYYQ3HNHU46SQ54VUGUIVBHNC", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.07587, + 2.91628, + -0.7771 + ], + "start_rotation": [ + 0, + 0.49887, + 0, + -0.86668 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 4.47744, + "euclidean_distance": 3.3825, + "closest_goal_object_id": 79, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.09061, + 2.91628, + -4.08736 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_110_newN_0", + "path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16" + ], + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0" + ], + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3KWTYT08726LD1HQFBOGT59ETDDL5H", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.88929, + 2.91628, + 3.7343 + ], + "start_rotation": [ + 0, + 0.99939, + 0, + 0.03485 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 15.22467, + "euclidean_distance": 3.55741, + "closest_goal_object_id": 401, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.94254, + 0.11628, + 3.24234 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "1e9bcf7676d44f2691efdeadc0d88d76", + "path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "1e9bcf7676d44f2691efdeadc0d88d76", + "0_edge_77_newN_0", + [ + "1e9bcf7676d44f2691efdeadc0d88d76" + ], + "0_edge_161_newN_0", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3X4JMASXCOCA5L9DRSTAY7HI2NJ0B9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.81575, + 0.11628, + 1.53738 + ], + "start_rotation": [ + 0, + 0.7961, + 0, + -0.60516 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 8.61613, + "euclidean_distance": 5.11161, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.81751, + 0.11628, + -2.7058 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "3c5c466d4f64452a9e87c545d918c4eb", + "path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3PS7W85Z815SX1R7RA3ORCOYSAZT9X", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.34075, + 2.91628, + 2.07891 + ], + "start_rotation": [ + 0, + 0.86426, + 0, + -0.50304 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.95823, + "euclidean_distance": 2.64461, + "closest_goal_object_id": 10, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.60753, + 2.91628, + 3.1864 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296" + ], + "refined_path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ] + ] + }, + { + "episode_id": "APRZ7BR8C0ZMQ:3HWRJOOET758DX59ALEK9LTNEUHSE6", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.986, + 0.11628, + 1.9403 + ], + "start_rotation": [ + 0, + 0.19124, + 0, + -0.98154 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 9.04624, + "euclidean_distance": 5.36076, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.79795, + 0.11628, + -2.69933 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "dde66ea80aca47968d3ec9c6e6ef3c0a", + "path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:33CKWXB73LN9ZCC3LE4L60NKZTZ11R", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.51122, + 2.91628, + -3.96748 + ], + "start_rotation": [ + 0, + 0.39871, + 0, + -0.91708 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 12.13743, + "euclidean_distance": 11.41706, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.72557, + 0.11628, + 7.07065 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_9_newN_0", + "path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + [ + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:37C0GNLMHH6YYTTC7D0X2YF9IC4D6J", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.33066, + 0.11628, + 2.85885 + ], + "start_rotation": [ + 0, + 0.95184, + 0, + 0.3066 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 8.617, + "euclidean_distance": 7.28345, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.18613, + 0.11628, + -3.72413 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "45af7750dab04ee9931d8c9a1ce9ee7d", + "path": [ + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_146_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "refined_path": [ + "45af7750dab04ee9931d8c9a1ce9ee7d", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + [ + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + [ + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1" + ], + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a" + ], + "0_edge_146_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0" + ], + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3BXQMRHWK11M4YPQGOX31UGK8U8MUM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.4887, + 0.11628, + -2.02151 + ], + "start_rotation": [ + 0, + 0.60896, + 0, + -0.7932 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 6.0183, + "euclidean_distance": 5.07849, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.23465, + 0.11628, + -3.72434 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "eb3364f96bed4877b27ce5e0cfa32702", + "path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_169_newN_1" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1" + ], + "refined_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "A272X64FOZFYLB:30ZX6P7VFAYNJEA3U7A5FJTA7LQJ21", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.02293, + 0.11628, + 5.50401 + ], + "start_rotation": [ + 0, + 0.59189, + 0, + 0.80602 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.80702, + "euclidean_distance": 5.1716, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.65244, + 0.11628, + 2.67602 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "e5f8d864ab7545d3bae0e56a527041ec", + "path": [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + [ + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a" + ] + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3R5F3LQFV4NRQ04CZRBOAQK4S0AOZZ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.2762, + 3.11628, + -4.84812 + ], + "start_rotation": [ + 0, + 0.79424, + 0, + 0.6076 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 15.75904, + "euclidean_distance": 12.61743, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.20733, + 0.11628, + 3.45939 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Navigate to the fireplace.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3KAKFY4PGW5G9LMGGP3AMSJ3E83I3T", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.29532, + 3.11628, + -3.25926 + ], + "start_rotation": [ + 0, + 0.77105, + 0, + 0.63678 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.74895, + "euclidean_distance": 6.50808, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.59833, + 2.91628, + -4.78539 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3E1QT0TDFRC2AISMS6Y6D9RDGBMI8U", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.49793, + 0.11628, + -0.4693 + ], + "start_rotation": [ + 0, + 0.96453, + 0, + 0.26398 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 14.7123, + "euclidean_distance": 13.38724, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.74446, + 0.11628, + -2.75976 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "dc9eb48ee3324792889cc391d6d4098c", + "path": [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3GLB5JMZFZY0VMIIJQ9JEPSZQEHGDQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.03463, + 2.91628, + 3.21844 + ], + "start_rotation": [ + 0, + 0.72024, + 0, + -0.69372 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 16.75546, + "euclidean_distance": 7.704, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.31115, + 0.11628, + 3.48291 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "0_edge_77_newN_1", + "path": [ + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Locate the fireplace.", + "instr_encoding": [ + 101, + 12453, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314" + ], + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3LOTDFNYA92TQSMEP18ROSH8W3TFWH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.99037, + 3.11628, + -3.23482 + ], + "start_rotation": [ + 0, + 0.31055, + 0, + -0.95056 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 10.86838, + "euclidean_distance": 9.32788, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.78031, + 2.91628, + 1.83922 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "8f25ebb1c23d4fddb035eb336426d5fa", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3E47SOBEYSZ4MLIZ9IEBFVNX76FICJ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -14.01448, + 0.11628, + -1.13915 + ], + "start_rotation": [ + 0, + 0.82658, + 0, + -0.56282 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.1928, + "euclidean_distance": 8.7635, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.40229, + 0.11628, + -2.46591 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "0_edge_2_newN_0", + "path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_102_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0" + ], + "refined_path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "0_edge_102_newN_0" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3483FV8BEGMBVJVWAOGG6FO622E62J", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.6181, + 3.11628, + -2.96735 + ], + "start_rotation": [ + 0, + 0.91192, + 0, + -0.41037 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 14.49038, + "euclidean_distance": 11.97246, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.19985, + 0.11628, + 3.47056 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_9_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Find the fireplace.", + "instr_encoding": [ + 101, + 2424, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3PWWM24LHU1YZXEK33DEQTKWP3O28C", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.75045, + 2.91628, + 3.34381 + ], + "start_rotation": [ + 0, + 0.79745, + 0, + 0.60339 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 13.55239, + "euclidean_distance": 3.73197, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.03119, + 0.11628, + 2.58889 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "0_edge_77_newN_1", + "path": [ + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3II4UPYCOLAR8BCWMMEV83W1VE3QDX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.05111, + 0.11628, + -1.85327 + ], + "start_rotation": [ + 0, + 0.57561, + 0, + -0.81773 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.59295, + "euclidean_distance": 5.10274, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.4297, + 0.11628, + 2.99403 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "5c3c7dfad2b3409182ecaf5535107dc5", + "path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0_edge_80_newN_0", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1", + "0_edge_50_newN_0", + "6a876090f6f34eb59bc03a68df7137b5" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_50_newN_0", + "6a876090f6f34eb59bc03a68df7137b5" + ], + "refined_path": [ + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + [ + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f" + ], + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + [ + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + [ + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b" + ], + "0_edge_80_newN_0", + [ + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096" + ], + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_50_newN_0", + "6a876090f6f34eb59bc03a68df7137b5" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3W2LOLRXLDIZYIX6RIPIH61VWYZRK6", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.2117, + 2.86454, + -0.59423 + ], + "start_rotation": [ + 0, + 0.76339, + 0, + 0.64594 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.08466, + "euclidean_distance": 3.75125, + "closest_goal_object_id": 87, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.17959, + 2.91628, + -4.36404 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "0_edge_134_newN_0", + "path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "b8e48c0381644e26bee60d15b8afb47e", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314" + ], + "refined_path": [ + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3OE22WJIGKRDPDNI8H4KI30PIUTQUZ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.36884, + 0.11628, + 5.57835 + ], + "start_rotation": [ + 0, + 0.70629, + 0, + 0.70792 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 16.48365, + "euclidean_distance": 14.8431, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.65688, + 0.11628, + -2.76299 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "46631317e8684d3f98f0b9c7d3c51417", + "path": [ + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417" + ], + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3I33IC7ZWH5CIL7Z01XSMKQSVS42AG", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.21369, + 1.32136, + 1.30122 + ], + "start_rotation": [ + 0, + 0.87701, + 0, + 0.48047 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.74186, + "euclidean_distance": 2.06804, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.03459, + 0.11628, + 2.6828 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "e0c61a2e0f9244cd8534e9ed8be96322", + "path": [ + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3I3WADAZ9S7TJMKNS348LMD8OCY5OM", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -13.65277, + 0.11628, + -4.81235 + ], + "start_rotation": [ + 0, + 0.5745, + 0, + -0.81851 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.18456, + "euclidean_distance": 12.11367, + "closest_goal_object_id": 402, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.32812, + 0.11628, + 6.84396 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "3c496aedd9d645a5b8d7a7b1b53f0636", + "path": [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_146_newN_2", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_124_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_146_newN_2", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "dc9eb48ee3324792889cc391d6d4098c" + ], + "0_edge_124_newN_0", + [ + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381" + ], + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3H0J7KPSIRZ7H:31Z0PCVWUMIOJI3ECD54DGXSUX97TK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.9013, + 2.91628, + 4.71231 + ], + "start_rotation": [ + 0, + 0.44783, + 0, + -0.89412 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.91266, + "euclidean_distance": 4.52299, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.05389, + 0.11628, + 2.68933 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "d97dee547dac432094720d127b49b347", + "path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "refined_path": [ + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + [ + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ] + }, + { + "episode_id": "A3F0NFNLOLFJT0:3ERET4BTVOCTUI1KX1PWQL11SCK9KU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.18288, + 2.91628, + -4.61738 + ], + "start_rotation": [ + 0, + 0.95548, + 0, + 0.29507 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.08397, + "euclidean_distance": 2.89582, + "closest_goal_object_id": 92, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.51781, + 2.91628, + -7.18283 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "12bce16a8b8e424bba0742b82a46352b", + "path": [ + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3Z7EFSHGNBH1CG7U84ECI5ABUAICXR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.53945, + 2.91628, + 2.8982 + ], + "start_rotation": [ + 0, + 0.01522, + 0, + -0.99988 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.50558, + "euclidean_distance": 1.06893, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.39721, + 2.91628, + 1.83634 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_33_newN_1", + "path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + [ + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:36AHBNMV1TF0HD3IDWVPLPZ3UNIDYL", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.94337, + 2.91628, + 3.4282 + ], + "start_rotation": [ + 0, + 0.99829, + 0, + -0.05848 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.43999, + "euclidean_distance": 8.49602, + "closest_goal_object_id": 79, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.99457, + 2.91628, + -4.02946 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0bcfce0d81294b7e84a7eed52cb04a4e", + "path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ], + "refined_path": [ + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ] + ] + }, + { + "episode_id": "A5WWHKD82I8UE:384PI804XU49M7QF2EF5OWRJKV00SP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.88321, + 2.91628, + -1.83144 + ], + "start_rotation": [ + 0, + 0.85281, + 0, + -0.52222 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.42098, + "euclidean_distance": 5.48708, + "closest_goal_object_id": 175, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.668, + 2.91628, + 2.93486 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "2dea9de9cf5742398b17c3d6208bb56a", + "path": [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "A3F90N8YVKJ4I7:3SUWZRL0M0G3QZ7C38BH8GXVZ34E6P", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 3.03293, + 0.11628, + 0.50858 + ], + "start_rotation": [ + 0, + 0.29235, + 0, + 0.95631 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 18.25632, + "euclidean_distance": 17.03543, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.73046, + 0.11628, + -2.64025 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_126_newN_1", + "path": [ + "0_edge_126_newN_1", + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_126_newN_1", + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "0_edge_126_newN_1", + "ed7387d968874f4bbe512395b64405af", + "0_edge_124_newN_0", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + [ + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:33JKGHPFYEX9985HJNLHNZOQ0RFNMH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.08076, + 0.11628, + -4.98647 + ], + "start_rotation": [ + 0, + 0.87962, + 0, + -0.47567 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.43422, + "euclidean_distance": 4.15527, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.71071, + 0.11628, + -1.63194 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "dbcf0a37c275473094e1160770291679", + "path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3EQHHY4HQUV5R93P4KR0GD47DR55GH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.14261, + 3.11628, + -4.18345 + ], + "start_rotation": [ + 0, + 0.95426, + 0, + -0.29899 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.55267, + "euclidean_distance": 6.50936, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.44841, + 2.91628, + -4.80202 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3WETL7AQWVB4XXR195KGXJFXTL935W", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.84145, + 0.11628, + -5.5706 + ], + "start_rotation": [ + 0, + 0.85366, + 0, + 0.52083 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.15458, + "euclidean_distance": 12.65913, + "closest_goal_object_id": 402, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.21409, + 0.11628, + 6.71816 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "3c496aedd9d645a5b8d7a7b1b53f0636", + "path": [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3WI0P0II63VRKCRWZ13VDT66SITRDO", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.91145, + 2.91628, + -1.15964 + ], + "start_rotation": [ + 0, + 0.98855, + 0, + 0.1509 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.66186, + "euclidean_distance": 4.58315, + "closest_goal_object_id": 175, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.7883, + 2.91628, + 2.85518 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "53672af2c15047818f2ead24a2370930", + "path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A3GMRPF5MCQVGV:3AZHRG4CU6N52Q50CZE4GOJ7RXN03I", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.50882, + 2.91628, + 2.08109 + ], + "start_rotation": [ + 0, + 0.09331, + 0, + -0.99564 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.11982, + "euclidean_distance": 7.59293, + "closest_goal_object_id": 79, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.10859, + 2.91628, + -4.01123 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "4bb7642a8af44f97acb81190589a3451", + "path": [ + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "eb3364f96bed4877b27ce5e0cfa32702", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "0_edge_77_newN_1", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "2dea9de9cf5742398b17c3d6208bb56a", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ], + "refined_path": [ + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "81df67c58e324caca152f29eb64f6993", + "0_edge_30_newN_0", + [ + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "e5e6c99e38014827b50ad33cd22e3c9d" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + [ + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_146_newN_0", + "0_edge_146_newN_2", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + [ + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314" + ], + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa" + ], + "080a334ceb144054b12c4ed7847b8f71", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "2dea9de9cf5742398b17c3d6208bb56a", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:39RP059MEJW78ZGKGXG8W4OWM50MBZ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.17009, + 3.11628, + -4.79618 + ], + "start_rotation": [ + 0, + 0.61571, + 0, + -0.78798 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.19503, + "euclidean_distance": 7.00942, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.98076, + 2.91628, + -1.01067 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "0bcfce0d81294b7e84a7eed52cb04a4e", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + [ + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa" + ], + "080a334ceb144054b12c4ed7847b8f71", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3SITXWYCNXCI2BFOU4IH7L4UT6DBXV", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.34505, + 0.11628, + -3.30701 + ], + "start_rotation": [ + 0, + 0.16114, + 0, + 0.98693 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.85054, + "euclidean_distance": 7.06263, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.26796, + 0.11628, + 3.06594 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "1d8256878b534440b5ba54b31bfb210b", + "path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "0_edge_82_newN_0", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "674b3b6705604a4c8b89182edee11e54", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "3c496aedd9d645a5b8d7a7b1b53f0636", + "65683a5cc3564769947019eb7e63ef0d", + [ + "3c496aedd9d645a5b8d7a7b1b53f0636" + ], + "674b3b6705604a4c8b89182edee11e54", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + ] + }, + { + "episode_id": "A2J5DN5UMU0A3Z:3I02618YA29SP1M384PVIYAFGXVPUW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.31377, + 2.91628, + -1.44301 + ], + "start_rotation": [ + 0, + 0.88951, + 0, + 0.45691 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.57748, + "euclidean_distance": 5.35955, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.0724, + 0.11628, + 2.51411 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "b8e48c0381644e26bee60d15b8afb47e", + "path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + [ + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:392CY0QWG3U1RH5KG38TWXB9RR04I2", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.95716, + 0.11628, + -2.4038 + ], + "start_rotation": [ + 0, + 0.9793, + 0, + 0.20243 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 14.55309, + "euclidean_distance": 10.88805, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.29444, + 0.11628, + 3.17415 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "370411a65c3d4dc8bd475805ad0f4195", + "path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "dfa246b0d1fe4f08953b20151cf951c3", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_204_newN_0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0" + ], + "refined_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + [ + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0" + ], + "dfa246b0d1fe4f08953b20151cf951c3", + [ + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e", + [ + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a" + ], + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + [ + "db59566f6465453d88a27b5bcb19b096" + ], + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "0_edge_204_newN_0" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3P4MQ7TPPZFBP8CNP8QZIOD2A4OBBN", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.8081, + 0.11628, + -2.00607 + ], + "start_rotation": [ + 0, + 0.80077, + 0, + 0.59897 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 9.84706, + "euclidean_distance": 6.76483, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.66159, + 0.11628, + -1.55721 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "eb3364f96bed4877b27ce5e0cfa32702", + "path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ], + "refined_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3Y5140Z9DZJNGAR3EN0HZVM35H9IPT", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.36034, + 3.11628, + -4.01782 + ], + "start_rotation": [ + 0, + 0.93318, + 0, + -0.35941 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.45547, + "euclidean_distance": 5.58799, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.03842, + 2.91628, + -0.9389 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A1YG56R57AYCOG:3TPZPLC3M2F8Q79KTKTUVPKFNB53PY", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.98474, + 0.11628, + -5.35295 + ], + "start_rotation": [ + 0, + 0.43906, + 0, + -0.89846 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 16.34408, + "euclidean_distance": 14.57838, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.71566, + 0.11628, + 7.1 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_147_newN_0", + "path": [ + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0" + ], + "dfa246b0d1fe4f08953b20151cf951c3", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + [ + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3QY7M81QH9PPGZDRI4RCCPAWY2N7K6", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.06356, + 0.11628, + -3.18428 + ], + "start_rotation": [ + 0, + 0.59288, + 0, + -0.80529 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 8.99144, + "euclidean_distance": 7.06414, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.17251, + 0.11628, + 3.40819 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "0_edge_82_newN_0", + "path": [ + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Locate the fireplace.", + "instr_encoding": [ + 101, + 12453, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3OS46CRSLH2KSATYYY0R8KLHW296VU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.09572, + 1.01346, + 1.76764 + ], + "start_rotation": [ + 0, + 0.56356, + 0, + -0.82607 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.145, + "euclidean_distance": 1.5264, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.15474, + 0.11628, + 2.73152 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "673ae67937804c42b3c22e93efb5d069", + "path": [ + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3KMS4QQVK4T2VSSX0NPO0HNDCZQFK0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.94675, + 2.91628, + -1.67947 + ], + "start_rotation": [ + 0, + 0.98928, + 0, + -0.14605 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.46119, + "euclidean_distance": 10.15734, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.51642, + 2.91628, + -4.75091 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "2dea9de9cf5742398b17c3d6208bb56a", + "path": [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3ZAZR5XV03LQHB799M2XFQQM0R7ZCY", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.27538, + 3.11628, + -2.66181 + ], + "start_rotation": [ + 0, + 0.89074, + 0, + -0.45452 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.28897, + "euclidean_distance": 9.66592, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.78222, + 2.91628, + 1.84022 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "2dea9de9cf5742398b17c3d6208bb56a", + "path": [ + "2dea9de9cf5742398b17c3d6208bb56a", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "2dea9de9cf5742398b17c3d6208bb56a", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "2dea9de9cf5742398b17c3d6208bb56a", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A182N7RLXGSCZG:3LEP4MGT3I3445A734H5DE11W3VBDY", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.83239, + 0.11628, + -1.90262 + ], + "start_rotation": [ + 0, + 0.09202, + 0, + 0.99576 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.93596, + "euclidean_distance": 6.35983, + "closest_goal_object_id": 319, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.65016, + 0.11628, + -4.68918 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "84928b00abef4a8489bcaa2ce410d1e5", + "path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "dbcf0a37c275473094e1160770291679", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "refined_path": [ + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1" + ], + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "3c496aedd9d645a5b8d7a7b1b53f0636", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "dbcf0a37c275473094e1160770291679", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3VHP9MDGRPNKCUG98A8QCYA57NACF7", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.03177, + 0.11628, + -1.89375 + ], + "start_rotation": [ + 0, + 0.28955, + 0, + -0.95716 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.46989, + "euclidean_distance": 4.54223, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.58656, + 0.11628, + 2.51657 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "eb3364f96bed4877b27ce5e0cfa32702", + "path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3ZPPDN2SLXZQ8I9A1FETSQOW6DA9EQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.10113, + 2.91628, + -1.178 + ], + "start_rotation": [ + 0, + 0.91189, + 0, + -0.41044 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.02689, + "euclidean_distance": 4.38799, + "closest_goal_object_id": 175, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.61876, + 2.91628, + 2.83269 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "8f25ebb1c23d4fddb035eb336426d5fa", + "path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ], + "refined_path": [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3NG53N1RLXMUR4FQ51OQM6SQJ6G8PC", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.89053, + 0.11628, + -4.08259 + ], + "start_rotation": [ + 0, + 0.03499, + 0, + 0.99939 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.37837, + "euclidean_distance": 6.76675, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -5.36935, + 0.11628, + -2.53012 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ], + "refined_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3QAVNHZ3EO7IJ7T7A7FX1GP0N39ALX", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.76672, + 0.11628, + 1.00784 + ], + "start_rotation": [ + 0, + 0.39508, + 0, + -0.91865 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 6.3984, + "euclidean_distance": 5.41021, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.23162, + 0.11628, + -4.2149 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "3c5c466d4f64452a9e87c545d918c4eb", + "path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ], + "refined_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3G5F9DBFOR00PZDFUHRV5BA75LFHV6", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.13435, + 0.11628, + -5.54447 + ], + "start_rotation": [ + 0, + 0.61217, + 0, + -0.79072 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 16.19982, + "euclidean_distance": 14.66491, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.69586, + 0.11628, + 6.96136 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_147_newN_0", + "path": [ + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "b3c99ac15d9546cd9d58a45647f63934", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + [ + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "0_edge_147_newN_0" + ], + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d" + ], + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:33ISQZVXPRPD9IWZH8IP4SP2U0PCC3", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -14.0706, + 0.11628, + -1.36793 + ], + "start_rotation": [ + 0, + 0.0828, + 0, + -0.99657 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.94865, + "euclidean_distance": 9.01669, + "closest_goal_object_id": 402, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.33651, + 0.11628, + 6.8638 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "0_edge_2_newN_0", + "path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3LRKMWOKB7KDJTF7CTDR3DH141VZ2A", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.26256, + 3.11628, + -5.48267 + ], + "start_rotation": [ + 0, + 0.72229, + 0, + -0.69159 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.85137, + "euclidean_distance": 6.57742, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.03545, + 2.91628, + -1.04395 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "4e1ad142e5844d21a376040600184d9a", + "path": [ + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486" + ] + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3NPFYT4IZE7ETSNZAQAV8WVQQGJXGL", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.6831, + 2.91628, + 3.66087 + ], + "start_rotation": [ + 0, + 0.82491, + 0, + 0.56526 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.64272, + "euclidean_distance": 3.79814, + "closest_goal_object_id": 391, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.23097, + 1.23938, + 1.43622 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_picture", + "start_potision_viewpoint_id": "0_edge_161_newN_0", + "path": [ + "0_edge_161_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_33_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_57_newN_1" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_161_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "refined_path": [ + "0_edge_161_newN_0", + "1e9bcf7676d44f2691efdeadc0d88d76", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + [ + "d339130a5534437da266a71435143314" + ], + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "0_edge_33_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da" + ] + ] + }, + { + "episode_id": "A3V8LIMUUJWUTL:39O5D9O87VVPWI0GOF7OBPL8OOZC3U", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.75634, + 2.91628, + -7.13672 + ], + "start_rotation": [ + 0, + 0.94724, + 0, + 0.32051 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 13.90343, + "euclidean_distance": 10.10262, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.96067, + 0.11628, + 2.5385 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "6a876090f6f34eb59bc03a68df7137b5", + "path": [ + "6a876090f6f34eb59bc03a68df7137b5", + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "8f25ebb1c23d4fddb035eb336426d5fa", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "8f5a767771964a56b3708d5415c446b2" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "6a876090f6f34eb59bc03a68df7137b5", + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2" + ], + "refined_path": [ + "6a876090f6f34eb59bc03a68df7137b5", + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2" + ] + }, + { + "episode_id": "A3LRZX8477TYYZ:3QUO65DNQWRA41A2T4CGTY5PQELOUS", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.97401, + 2.91628, + 1.86656 + ], + "start_rotation": [ + 0, + 0.06032, + 0, + -0.99818 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.62138, + "euclidean_distance": 3.81049, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.50103, + 2.91628, + -1.11954 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3634BBTX0QXBPX290K4CN180HX2FIR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.83142, + 0.11628, + -4.92006 + ], + "start_rotation": [ + 0, + 0.74703, + 0, + -0.66479 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 8.9973, + "euclidean_distance": 7.22497, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.71255, + 0.11628, + -2.7658 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "5d82955e203d447a901929bc53deefd0", + "path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "5d82955e203d447a901929bc53deefd0", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A2J5DN5UMU0A3Z:3DOCMVPBTPHFRQQHVO0H0EDQ8LRNNU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.23615, + 0.11628, + 5.90526 + ], + "start_rotation": [ + 0, + 0.81323, + 0, + 0.58194 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.31376, + "euclidean_distance": 4.09652, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.04835, + 0.11628, + 2.06549 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "947f02de64db4ccbbe220a9f9124a815", + "path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "refined_path": [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_207_newN_0", + "bfd18e7fa8894c26a00f0cad55b31f76" + ] + }, + { + "episode_id": "A5A14MTB35J23:38F5OAUN5PFYE9CJCJOFZXU4MUM7H3", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.01253, + 2.91628, + -2.72269 + ], + "start_rotation": [ + 0, + 0.70963, + 0, + -0.70457 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 2.84634, + "euclidean_distance": 2.59736, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.64365, + 2.91628, + -0.61828 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "5b821a3b87cd4ed3a7c4414199a0a740", + "path": [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ], + "refined_path": [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:3R5F3LQFV4NRQ04CZRBOAQK48A3ZO3", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.8586, + 2.91628, + 6.33971 + ], + "start_rotation": [ + 0, + 0.48857, + 0, + 0.87252 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 16.74222, + "euclidean_distance": 4.59753, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.20439, + 0.11628, + 3.52296 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "eba5ca774e2a41dfa6e22fbff7fe66d2", + "path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ], + "instruction": "Find the fireplace.", + "instr_encoding": [ + 101, + 2424, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + "d97dee547dac432094720d127b49b347", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ], + "refined_path": [ + "eba5ca774e2a41dfa6e22fbff7fe66d2", + "d97dee547dac432094720d127b49b347", + "0_edge_30_newN_1", + [ + "d97dee547dac432094720d127b49b347" + ], + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ] + }, + { + "episode_id": "A1Q995BGGPBDMB:3C8HJ7UOP9X3QXJ0MBWBIMVZXW9MZO", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.47227, + 3.11628, + -4.17809 + ], + "start_rotation": [ + 0, + 0.9746, + 0, + 0.22394 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.57848, + "euclidean_distance": 2.47646, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.96075, + 2.91628, + -1.79339 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3NXNZ5RS1C05Z3U0E70NMGWFM1T79D", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.78359, + 0.11628, + -3.40227 + ], + "start_rotation": [ + 0, + 0.31244, + 0, + -0.94994 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.31229, + "euclidean_distance": 3.50874, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.29832, + 0.11628, + -4.14983 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "1d8256878b534440b5ba54b31bfb210b", + "path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:3EJPLAJKEOJ11UY8ZVPUTQYDKC16ZE", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.4273, + 0.11628, + 5.24375 + ], + "start_rotation": [ + 0, + 0.86357, + 0, + 0.50423 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 16.7108, + "euclidean_distance": 15.55435, + "closest_goal_object_id": 279, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.31134, + 0.11628, + -3.73034 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "2ea5348654d24115bba3dcdb21fa655e", + "path": [ + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "eb3364f96bed4877b27ce5e0cfa32702", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "refined_path": [ + "2ea5348654d24115bba3dcdb21fa655e", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "0_edge_146_newN_1", + [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b" + ], + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + [ + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0" + ], + "d804a36fe0fc40dfb8f03ca3758ce904", + [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3J4Q2Z4UT06QHHCN3HJL0RLM3GEWQQ", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 1.82887, + 0.11628, + 2.86191 + ], + "start_rotation": [ + 0, + 0.41988, + 0, + -0.90758 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.62808, + "euclidean_distance": 5.13346, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.26002, + 0.11628, + -1.31793 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sofa", + "start_potision_viewpoint_id": "b14dbfea048449aa8b8934cbf491a10a", + "path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ], + "refined_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_146_newN_2" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:34YB12FSQ0R3ZGOVWJ8MXFFTZG7GMI", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.98976, + 2.91628, + 0.95395 + ], + "start_rotation": [ + 0, + 0.81688, + 0, + -0.5768 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 2.3188, + "euclidean_distance": 2.04592, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.86311, + 2.91628, + 1.77392 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "625eb179629b45f280c01d3f6ec74b4f", + "path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A3LRZX8477TYYZ:3LEIZ60CDL2OJD06X2S6D0PEWUM9ZN", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 2.80041, + 0.11628, + 2.40677 + ], + "start_rotation": [ + 0, + 0.4679, + 0, + 0.88378 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.67281, + "euclidean_distance": 3.17752, + "closest_goal_object_id": 197, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 1.2636, + 0.11628, + 5.25932 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "b14dbfea048449aa8b8934cbf491a10a", + "path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ], + "refined_path": [ + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "2ea5348654d24115bba3dcdb21fa655e" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3MHW492WW2GMHDEQLE78XGI39M4VM0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.21311, + 2.91628, + -3.72411 + ], + "start_rotation": [ + 0, + 0.9989, + 0, + -0.04698 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 10.06894, + "euclidean_distance": 8.01267, + "closest_goal_object_id": 438, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.11856, + 0.11628, + 2.71901 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chair", + "start_potision_viewpoint_id": "d804a36fe0fc40dfb8f03ca3758ce904", + "path": [ + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "refined_path": [ + "d804a36fe0fc40dfb8f03ca3758ce904", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + [ + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ] + }, + { + "episode_id": "A1198W1SPF1R4:3ZQIG0FLQGJIMP84PGDV6EKUKNKVW4", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.04943, + 0.11628, + -1.62469 + ], + "start_rotation": [ + 0, + 0.02823, + 0, + -0.9996 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 6.76336, + "euclidean_distance": 5.88996, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.64604, + 0.11628, + 3.68068 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0cd0dd452a324496afd701e1c4b2e973", + "path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679" + ], + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:386PBUZZXH0TK0WB4DSAUFSJDMZLJC", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.55612, + 2.91628, + 3.6339 + ], + "start_rotation": [ + 0, + 0.96255, + 0, + 0.27109 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.69995, + "euclidean_distance": 7.93714, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.98779, + 2.91628, + -1.05842 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0cb5fac1789e42d5a99cc87f4ef8cb35", + "path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + [ + "d339130a5534437da266a71435143314" + ], + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3TUI152ZZDQXGGWK6TU071VRR3W1Q5", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.76783, + 2.91628, + -0.74791 + ], + "start_rotation": [ + 0, + 0.20025, + 0, + -0.97974 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.81657, + "euclidean_distance": 5.87311, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.01093, + 0.11628, + 2.83868 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "b8e48c0381644e26bee60d15b8afb47e", + "path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ], + "refined_path": [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3IHR8NYAM94T83SOTYYD5UCLD5H4P0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.25729, + 2.91628, + 2.89635 + ], + "start_rotation": [ + 0, + 0.85736, + 0, + -0.51472 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.96596, + "euclidean_distance": 8.40275, + "closest_goal_object_id": 79, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.06138, + 2.91628, + -4.07047 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0cb5fac1789e42d5a99cc87f4ef8cb35", + "path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "d339130a5534437da266a71435143314", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "12bce16a8b8e424bba0742b82a46352b" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ], + "refined_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "2dea9de9cf5742398b17c3d6208bb56a", + "080a334ceb144054b12c4ed7847b8f71", + [ + "2dea9de9cf5742398b17c3d6208bb56a", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16" + ], + "d339130a5534437da266a71435143314", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + [ + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "53d4ad8fb39a4cd8bc03b9d585698a93", + [ + "53672af2c15047818f2ead24a2370930", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3A9AA95ATYPB4MWO73HNAMIZECD5PU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.27151, + 0.11628, + 6.60919 + ], + "start_rotation": [ + 0, + 0.95941, + 0, + -0.28201 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.26836, + "euclidean_distance": 6.82721, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -4.64671, + 0.11628, + 2.6178 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "d0a013ec97674abc8fd7657ea7844221", + "path": [ + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3AMW0RGHOF5FUB2UB3D943IKP36PNR", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.846, + 0.11628, + 2.74579 + ], + "start_rotation": [ + 0, + 0.93672, + 0, + 0.35009 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.10617, + "euclidean_distance": 1.7813, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -6.13948, + 0.11628, + 1.65041 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "cdafd704291841daaa57ce008a95a06a", + "path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729" + ], + "refined_path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:38JBBYETQQDPBC3YKKI2BIDH3D64E4", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.94888, + 0.11628, + -4.12599 + ], + "start_rotation": [ + 0, + 0.97555, + 0, + -0.21978 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.68494, + "euclidean_distance": 7.27831, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.30911, + 0.11628, + 3.1782 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "b3c99ac15d9546cd9d58a45647f63934", + "path": [ + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0" + ], + "refined_path": [ + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195", + "0_edge_147_newN_1", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ], + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3Z2R0DQ0JJHF8YOBG6ZEI3GJGVU2EF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.14711, + 2.91628, + 2.67264 + ], + "start_rotation": [ + 0, + 0.04809, + 0, + -0.99884 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.61229, + "euclidean_distance": 6.91323, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.04488, + 2.91628, + -1.07333 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0cb5fac1789e42d5a99cc87f4ef8cb35", + "path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ], + "refined_path": [ + "0cb5fac1789e42d5a99cc87f4ef8cb35", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3JBT3HLQFA59B0GDERO3ZQPUIBEPZH", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -7.16632, + 0.11628, + -2.77268 + ], + "start_rotation": [ + 0, + 0.99964, + 0, + -0.0268 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 16.58695, + "euclidean_distance": 7.44091, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.27565, + 2.91628, + 1.9709 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "1d8256878b534440b5ba54b31bfb210b", + "path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "322a5d3bbca1428fb92d39bfc6e603ee", + [ + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:339ANSOTR75M5JUN1VV93E05SSOKI4", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -9.2863, + 2.91628, + -7.24621 + ], + "start_rotation": [ + 0, + 0.64526, + 0, + 0.76396 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 16.61502, + "euclidean_distance": 11.81943, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.23818, + 0.11628, + 3.49415 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "6a876090f6f34eb59bc03a68df7137b5", + "path": [ + "6a876090f6f34eb59bc03a68df7137b5", + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Go to the fireplace.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "6a876090f6f34eb59bc03a68df7137b5", + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "6a876090f6f34eb59bc03a68df7137b5", + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:34HJIJKLP7Z6DNPKFA7CBM13NYJV4B", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.16023, + 0.11628, + 1.34446 + ], + "start_rotation": [ + 0, + 0.54399, + 0, + -0.83909 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 8.99429, + "euclidean_distance": 5.05759, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -0.49771, + 0.11628, + -1.93693 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "cdafd704291841daaa57ce008a95a06a", + "path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Navigate to the fireplace.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "0_edge_157_newN_2", + [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3KKG4CDWKK18GGCHC92GJ4C69OV94H", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.68345, + 0.11628, + -1.90689 + ], + "start_rotation": [ + 0, + 0.88425, + 0, + -0.46701 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 4.22444, + "euclidean_distance": 3.35154, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.29469, + 0.11628, + -2.25945 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "eb3364f96bed4877b27ce5e0cfa32702", + "path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ], + "instruction": "Find the fireplace.", + "instr_encoding": [ + 101, + 2424, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "refined_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_146_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + [ + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934", + [ + "370411a65c3d4dc8bd475805ad0f4195" + ] + ] + }, + { + "episode_id": "A272X64FOZFYLB:31N2WW6R9TTWZUKQFHXPJV6B1FG3FT", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.9274, + 0.11628, + -2.84423 + ], + "start_rotation": [ + 0, + 0.13733, + 0, + -0.99053 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 10.90804, + "euclidean_distance": 6.39792, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.23307, + 0.11628, + 3.37304 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "674b3b6705604a4c8b89182edee11e54", + "path": [ + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "instruction": "Go to the fireplace.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195" + ], + "refined_path": [ + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "0_edge_80_newN_0", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + [ + "8b8c58d65b3049ef8a844f237096b06d" + ], + "0_edge_66_newN_0", + "4e1ad142e5844d21a376040600184d9a", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8" + ], + "0_edge_73_newN_0", + "723a213fbaa847f2a44feac9246fd7b1", + "0_edge_147_newN_0", + "0_edge_147_newN_1", + "370411a65c3d4dc8bd475805ad0f4195" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3QAVNHZ3EO7IJ7T7A7FX1GP14JHLAV", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.21364, + 0.11628, + -3.8255 + ], + "start_rotation": [ + 0, + 0.64382, + 0, + 0.76517 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.46036, + "euclidean_distance": 10.82757, + "closest_goal_object_id": 402, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.25156, + 0.11628, + 6.9044 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + [ + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3OLQQLKKNUSFEUMJNR56HK20IIXJEO", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.13877, + 3.11628, + -4.92406 + ], + "start_rotation": [ + 0, + 0.09975, + 0, + 0.99501 + ], + "object_category": "fireplace", + "info": { + "geodesic_distance": 15.81537, + "euclidean_distance": 12.0757, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.24607, + 0.11628, + 3.401 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_fireplace", + "start_potision_viewpoint_id": "4e1ad142e5844d21a376040600184d9a", + "path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "instruction": "Locate the fireplace.", + "instr_encoding": [ + 101, + 12453, + 1996, + 13788, + 1012, + 102 + ], + "original_path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ], + "refined_path": [ + "4e1ad142e5844d21a376040600184d9a", + "0_edge_66_newN_0", + "8b8c58d65b3049ef8a844f237096b06d", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "8f5a767771964a56b3708d5415c446b2", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + [ + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa" + ], + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2", + [ + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "0_edge_102_newN_0", + "45af7750dab04ee9931d8c9a1ce9ee7d", + "71472b1d6fbf4d6192ed9917bff8dba7" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3A1COHJ8NLY2ENH2MOGLDXQYGYTH8M", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.02773, + 0.11628, + 1.85196 + ], + "start_rotation": [ + 0, + 0.96305, + 0, + 0.26931 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 16.63503, + "euclidean_distance": 14.40543, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.64508, + 0.11628, + -2.82183 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "bfd18e7fa8894c26a00f0cad55b31f76", + "path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3TR2532VIRXB1FT4H9M85WAN4BEJ6T", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.33835, + 0.11628, + 2.16282 + ], + "start_rotation": [ + 0, + 0.06706, + 0, + 0.99775 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 16.19635, + "euclidean_distance": 14.21387, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.72107, + 0.11628, + -2.7208 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "bfd18e7fa8894c26a00f0cad55b31f76", + "path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "0_edge_2_newN_0" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "181c56d99ddd42ba8d4be09dbb135381", + [ + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3VNXK88KKEL7ATVWW533SUCI62H9VO", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -12.40717, + 2.91628, + 1.87874 + ], + "start_rotation": [ + 0, + 0.78259, + 0, + -0.62253 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.05428, + "euclidean_distance": 4.85436, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.6953, + 2.91628, + -1.20135 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "6fbfaa4207454c288739caceb9512fb5", + "path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ], + "refined_path": [ + "6fbfaa4207454c288739caceb9512fb5", + "0_edge_185_newN_1", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "0_edge_157_newN_2" + ] + }, + { + "episode_id": "APGX2WZ59OWDN:3OF2M9AATIR809JX1ZJV393V8RRZK9", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.19758, + 0.11628, + 1.64224 + ], + "start_rotation": [ + 0, + 0.81632, + 0, + 0.57759 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.22552, + "euclidean_distance": 3.42151, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.04735, + 0.11628, + 3.11064 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "3c5c466d4f64452a9e87c545d918c4eb", + "path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + [ + "3c5c466d4f64452a9e87c545d918c4eb" + ], + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3OCHAWUVGQNJVEJI0HVA6ONJZITXKP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -14.07564, + 0.11628, + -0.83684 + ], + "start_rotation": [ + 0, + 0.36889, + 0, + 0.92947 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 22.0411, + "euclidean_distance": 4.27745, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.26498, + 2.91628, + 1.93663 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "0_edge_2_newN_0", + "path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "0_edge_2_newN_1", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "10_edge_195_newN_0", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "0_edge_2_newN_1", + [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + [ + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786" + ], + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3G2UL9A02FHIHKS2G0XB265EDDI768", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.77512, + 2.91628, + 2.68509 + ], + "start_rotation": [ + 0, + 0.93553, + 0, + 0.35323 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.67755, + "euclidean_distance": 5.60139, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.09895, + 2.91628, + -1.03848 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_77_newN_1", + "path": [ + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ], + "refined_path": [ + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + [ + "d339130a5534437da266a71435143314" + ], + "34a370fe2d1840e196a491db1e995e16", + [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16" + ], + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "0_edge_7_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1" + ] + }, + { + "episode_id": "A23LXQ5ZX2YONR:3A1PQ49WVJKK3NXHN376YN3RGCI1H1", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.9305, + 2.91628, + 3.86189 + ], + "start_rotation": [ + 0, + 0.40999, + 0, + 0.91209 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.36402, + "euclidean_distance": 5.48258, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.51429, + 2.91628, + -1.1523 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "0_edge_91_newN_1", + "path": [ + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3GM6G9ZBKP074LA1GJ7TWYUISEFTMF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.70363, + 2.91628, + 2.88563 + ], + "start_rotation": [ + 0, + 0.26205, + 0, + 0.96505 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 11.8987, + "euclidean_distance": 5.41039, + "closest_goal_object_id": 420, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -7.01161, + 0.11628, + 2.8585 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "0_edge_33_newN_1", + "path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ], + "refined_path": [ + "0_edge_33_newN_1", + "d97dee547dac432094720d127b49b347", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + [ + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + [ + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + "080a334ceb144054b12c4ed7847b8f71", + [ + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b", + "32fb55017460457cbe0b8d1790a54786" + ], + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:35H6S234SC33UGEJS7IE4MRH3BD655", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.76635, + 0.11628, + 3.25705 + ], + "start_rotation": [ + 0, + 0.97095, + 0, + 0.23927 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 9.02857, + "euclidean_distance": 6.8855, + "closest_goal_object_id": 66, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.67255, + 2.91628, + -0.59107 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bathtub", + "start_potision_viewpoint_id": "50629d10507840cba1ff155045d3f76b", + "path": [ + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ], + "refined_path": [ + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3UJ1CZ6IZJS8HECGZKLH5RNA1A75SP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -2.40334, + 0.11628, + 2.13912 + ], + "start_rotation": [ + 0, + 0.87687, + 0, + -0.48072 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 10.33173, + "euclidean_distance": 8.73888, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.71876, + 0.11628, + 7.10534 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_182_newN_0", + "path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3G5OWGKHW6OL5:3BWI6RSP7ICMUZLHMIG9EUXRRHW7ES", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + 0.65974, + 0.11628, + 2.15691 + ], + "start_rotation": [ + 0, + 0.50395, + 0, + -0.86373 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 14.41205, + "euclidean_distance": 12.57547, + "closest_goal_object_id": 283, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.27235, + 0.11628, + -4.17485 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "bfd18e7fa8894c26a00f0cad55b31f76", + "path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ], + "refined_path": [ + "bfd18e7fa8894c26a00f0cad55b31f76", + "b14dbfea048449aa8b8934cbf491a10a", + [ + "bfd18e7fa8894c26a00f0cad55b31f76" + ], + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "46631317e8684d3f98f0b9c7d3c51417", + "1e597325e01d4a9aa332e92abc455414", + "947f02de64db4ccbbe220a9f9124a815", + "5a89e430e6fb471189468fb44bbea75c", + [ + "947f02de64db4ccbbe220a9f9124a815", + "1e597325e01d4a9aa332e92abc455414", + "46631317e8684d3f98f0b9c7d3c51417", + "6561b21dac894dfca3473db3037dbfad" + ], + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "3c5c466d4f64452a9e87c545d918c4eb", + "6a10ae81330345f794a55f2d96a86ea6", + "0_edge_26_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f" + ] + }, + { + "episode_id": "A5A14MTB35J23:3IO1LGZLKB0MHYXLQ5PHG619O0K68W", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -6.72653, + 2.91628, + -1.52933 + ], + "start_rotation": [ + 0, + 0.95255, + 0, + -0.3044 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 5.29747, + "euclidean_distance": 4.19835, + "closest_goal_object_id": 83, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.04006, + 2.91628, + -4.15986 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_seating", + "start_potision_viewpoint_id": "53672af2c15047818f2ead24a2370930", + "path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "8f25ebb1c23d4fddb035eb336426d5fa", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ], + "refined_path": [ + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "d339130a5534437da266a71435143314", + "0bcfce0d81294b7e84a7eed52cb04a4e", + [ + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930" + ], + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "8388153c198e4e4fb75cd8d0fd96d8a2" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3PS7W85Z815SX1R7RA3ORCOYSB8T98", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.79452, + 2.91628, + -3.91201 + ], + "start_rotation": [ + 0, + 0.83272, + 0, + -0.55369 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.26909, + "euclidean_distance": 5.75388, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.83757, + 2.91628, + 1.79464 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_sink", + "start_potision_viewpoint_id": "0_edge_9_newN_0", + "path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "0_edge_134_newN_0", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ], + "refined_path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + [ + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "8f5a767771964a56b3708d5415c446b2", + "50629d10507840cba1ff155045d3f76b", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "cdafd704291841daaa57ce008a95a06a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:32VNZTT0A97EKG836Q22APCZZ3AR4Z", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.45603, + 2.91628, + 1.54271 + ], + "start_rotation": [ + 0, + 0.62147, + 0, + -0.78344 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.67604, + "euclidean_distance": 8.82494, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.58939, + 2.91628, + -4.76552 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "4bb7642a8af44f97acb81190589a3451", + "path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3MAOD8E57SDK3K4LXUNQYG4NT7DNXN", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -0.02025, + 0.11628, + 0.83253 + ], + "start_rotation": [ + 0, + 0.23461, + 0, + 0.97209 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.99053, + "euclidean_distance": 2.72697, + "closest_goal_object_id": 370, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.55266, + 0.11628, + -1.55062 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "181c56d99ddd42ba8d4be09dbb135381", + "path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ], + "refined_path": [ + "181c56d99ddd42ba8d4be09dbb135381", + "dc9eb48ee3324792889cc391d6d4098c", + "84928b00abef4a8489bcaa2ce410d1e5", + "370411a65c3d4dc8bd475805ad0f4195", + "b3c99ac15d9546cd9d58a45647f63934" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3M68NM076JASZ3CHPEVH7NWEETR6RT", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.08183, + 2.91628, + -2.28729 + ], + "start_rotation": [ + 0, + 0.99706, + 0, + 0.07665 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 10.41924, + "euclidean_distance": 9.77338, + "closest_goal_object_id": 375, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -9.75235, + 0.11628, + 7.01833 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_tv_monitor", + "start_potision_viewpoint_id": "5f4fd3bd58144211a8617caa5570e40c", + "path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "8f25ebb1c23d4fddb035eb336426d5fa", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd", + "8f25ebb1c23d4fddb035eb336426d5fa", + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "2c449dc925de472ca31124feca25a01a", + "0_edge_169_newN_0", + [ + "2c449dc925de472ca31124feca25a01a", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "5635036d3bfb483eac283af7bb5ac986", + "d97dee547dac432094720d127b49b347", + [ + "5635036d3bfb483eac283af7bb5ac986", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c" + ], + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "0_edge_110_newN_0", + "53672af2c15047818f2ead24a2370930", + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "4bb7642a8af44f97acb81190589a3451", + [ + "34a370fe2d1840e196a491db1e995e16", + "7cae5e5f8adf444d829c95b4a4412ffd" + ], + "8f25ebb1c23d4fddb035eb336426d5fa", + [ + "7cae5e5f8adf444d829c95b4a4412ffd", + "53672af2c15047818f2ead24a2370930", + "0_edge_110_newN_0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0" + ], + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3EFE17QCRE8KX7WB0MMQUOQZSIJSHW", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.13359, + 0.11628, + -3.46172 + ], + "start_rotation": [ + 0, + 0.9681, + 0, + -0.25057 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 15.38089, + "euclidean_distance": 11.31272, + "closest_goal_object_id": 399, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.50186, + 0.11628, + 3.02182 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_chest_of_drawers", + "start_potision_viewpoint_id": "370411a65c3d4dc8bd475805ad0f4195", + "path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "0_edge_182_newN_0", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "0_edge_182_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + "dbcf0a37c275473094e1160770291679", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "refined_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad", + "10_edge_195_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "0_edge_182_newN_0", + [ + "6561b21dac894dfca3473db3037dbfad" + ], + "cdafd704291841daaa57ce008a95a06a", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "8b219cad487e4091b7c29146f0224729", + "0cd0dd452a324496afd701e1c4b2e973", + "4545f7a0d918401ebccdb6716a5f1fce", + "0_edge_80_newN_0", + [ + "4545f7a0d918401ebccdb6716a5f1fce" + ], + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "dbcf0a37c275473094e1160770291679", + "dd6ae3e4669546a4a7fd78186723d12f", + [ + "dbcf0a37c275473094e1160770291679" + ], + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_210_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02", + [ + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f" + ] + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3S06PH7KST73R7SF17OG72OTRD81D0", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -5.39238, + 0.11628, + -1.96363 + ], + "start_rotation": [ + 0, + 0.45871, + 0, + -0.88859 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 17.59357, + "euclidean_distance": 8.35616, + "closest_goal_object_id": 23, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -12.27764, + 2.91628, + 1.8957 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_shower", + "start_potision_viewpoint_id": "eb3364f96bed4877b27ce5e0cfa32702", + "path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e", + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "0_edge_2_newN_1", + [ + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "674b3b6705604a4c8b89182edee11e54", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + [ + "dde66ea80aca47968d3ec9c6e6ef3c0a" + ], + "32fb55017460457cbe0b8d1790a54786", + "fea7a9db41944d76b258036b046d13aa", + "673ae67937804c42b3c22e93efb5d069", + "e0c61a2e0f9244cd8534e9ed8be96322", + "c4fc538718cc4918884d2040ce523a5f", + "9001b330086e4aa69799729560e6dca0", + "0_edge_134_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "b8e48c0381644e26bee60d15b8afb47e", + "dcced7b92f444b9a83bd7d54413fa486", + "addb4d69f82243fb9a38c4d615651ba7", + "0c2a97f049db4a429776940850fedf2e", + [ + "addb4d69f82243fb9a38c4d615651ba7", + "dcced7b92f444b9a83bd7d54413fa486", + "b8e48c0381644e26bee60d15b8afb47e" + ], + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3IAEQB9FMGNWS88IYVD10SENKVMDWN", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -11.85525, + 2.91628, + 2.85987 + ], + "start_rotation": [ + 0, + 0.70829, + 0, + 0.70592 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 8.47438, + "euclidean_distance": 7.43251, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.16234, + 2.91628, + -4.20384 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_bed", + "start_potision_viewpoint_id": "0_edge_33_newN_1", + "path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "12bce16a8b8e424bba0742b82a46352b" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "12bce16a8b8e424bba0742b82a46352b" + ], + "refined_path": [ + "0_edge_33_newN_1", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296" + ], + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "625eb179629b45f280c01d3f6ec74b4f", + "b8e48c0381644e26bee60d15b8afb47e", + "5f4fd3bd58144211a8617caa5570e40c", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "12bce16a8b8e424bba0742b82a46352b" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:32RIADZISU7QLV8GLF270ZHVNNG4SP", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.2749, + 0.11628, + -4.18763 + ], + "start_rotation": [ + 0, + 0.8001, + 0, + 0.59986 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 4.17825, + "euclidean_distance": 3.71251, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -13.28282, + 0.11628, + -1.94657 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_toilet", + "start_potision_viewpoint_id": "0_edge_210_newN_0", + "path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + "61cac35d27254f8b8edba9601c4f8b5f", + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ], + "refined_path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + [ + "bd9faec23bb3462c94a5fbc6c0a3d5cf" + ], + "674b3b6705604a4c8b89182edee11e54", + "61cac35d27254f8b8edba9601c4f8b5f", + "0_edge_2_newN_0", + [ + "61cac35d27254f8b8edba9601c4f8b5f" + ], + "8b55e4f095374cfe8ddb0fda0f0dfa02" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:37TRT2X24SUH7RAZD03GGCWFFGQJBK", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -4.73733, + 0.11628, + -4.0285 + ], + "start_rotation": [ + 0, + 0.21516, + 0, + -0.97658 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.71976, + "euclidean_distance": 7.14177, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + 0.74081, + 0.11628, + 0.54613 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "0_edge_146_newN_0", + "path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_146_newN_0", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0_edge_80_newN_0", + "4545f7a0d918401ebccdb6716a5f1fce", + "5c3c7dfad2b3409182ecaf5535107dc5", + "e5e6c99e38014827b50ad33cd22e3c9d", + "0_edge_82_newN_0", + [ + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5" + ], + "1f7f69e3874c48b8b9caf0548240603f", + "0_edge_26_newN_1", + "6a10ae81330345f794a55f2d96a86ea6", + "3c5c466d4f64452a9e87c545d918c4eb", + "dde66ea80aca47968d3ec9c6e6ef3c0a", + "0_edge_204_newN_0", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "d0a013ec97674abc8fd7657ea7844221" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:3PH3VY7DJN0ZV9DEQD2YRKXQBCDWZN", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -1.41506, + 0.11628, + -2.50574 + ], + "start_rotation": [ + 0, + 0.48461, + 0, + 0.87473 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.27225, + "euclidean_distance": 5.6459, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -1.30828, + 0.11628, + 3.27239 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_counter", + "start_potision_viewpoint_id": "370411a65c3d4dc8bd475805ad0f4195", + "path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ], + "refined_path": [ + "370411a65c3d4dc8bd475805ad0f4195", + "84928b00abef4a8489bcaa2ce410d1e5", + "dc9eb48ee3324792889cc391d6d4098c", + "181c56d99ddd42ba8d4be09dbb135381", + "bfd18e7fa8894c26a00f0cad55b31f76", + "0_edge_207_newN_0", + "6561b21dac894dfca3473db3037dbfad" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3OONKJ5DKEMV821WTDVLO8D0Y9ROBF", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.22417, + 2.91628, + -3.54743 + ], + "start_rotation": [ + 0, + 0.99605, + 0, + 0.0888 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.94635, + "euclidean_distance": 2.68384, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.71103, + 2.91628, + -1.41766 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "0_edge_9_newN_0", + "path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3Z3ZLGNNSKXTQJAZTX8JVUAP8GY3QU", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -8.73683, + 2.91628, + -7.13089 + ], + "start_rotation": [ + 0, + 0.7161, + 0, + -0.698 + ], + "object_category": "table", + "info": { + "geodesic_distance": 8.60638, + "euclidean_distance": 5.69186, + "closest_goal_object_id": 140, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -8.49978, + 2.91628, + -1.35849 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_table", + "start_potision_viewpoint_id": "6a876090f6f34eb59bc03a68df7137b5", + "path": [ + "6a876090f6f34eb59bc03a68df7137b5", + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_57_newN_1", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "0_edge_169_newN_1", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "6a876090f6f34eb59bc03a68df7137b5", + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_57_newN_1", + "f1b5f89d2b0a46449f374351c1579c80", + "8388153c198e4e4fb75cd8d0fd96d8a2", + "e5bdf109ceb745f1bf4d66447afa02da", + "0_edge_169_newN_1", + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80", + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + "5b821a3b87cd4ed3a7c4414199a0a740", + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + "5f4fd3bd58144211a8617caa5570e40c", + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "refined_path": [ + "6a876090f6f34eb59bc03a68df7137b5", + "0_edge_50_newN_0", + "f1b5f89d2b0a46449f374351c1579c80", + "e5bdf109ceb745f1bf4d66447afa02da", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_57_newN_1", + [ + "f1b5f89d2b0a46449f374351c1579c80" + ], + "8388153c198e4e4fb75cd8d0fd96d8a2", + [ + "e5bdf109ceb745f1bf4d66447afa02da" + ], + "0_edge_169_newN_1", + [ + "e5bdf109ceb745f1bf4d66447afa02da", + "f1b5f89d2b0a46449f374351c1579c80" + ], + "0_edge_7_newN_1", + "5b821a3b87cd4ed3a7c4414199a0a740", + "0_edge_9_newN_0", + [ + "5b821a3b87cd4ed3a7c4414199a0a740" + ], + "5f4fd3bd58144211a8617caa5570e40c", + "3532b1e7ea1646848b710936d4696a5d", + [ + "5f4fd3bd58144211a8617caa5570e40c" + ], + "0_edge_134_newN_0", + "9001b330086e4aa69799729560e6dca0", + "c4fc538718cc4918884d2040ce523a5f", + "e0c61a2e0f9244cd8534e9ed8be96322", + "673ae67937804c42b3c22e93efb5d069", + "fea7a9db41944d76b258036b046d13aa", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ] + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3TU5ZICBRF4FRGG55E3FMBI0KNPQ8A", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -3.81812, + 3.11628, + -4.38932 + ], + "start_rotation": [ + 0, + 0.8538, + 0, + 0.5206 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.55619, + "euclidean_distance": 4.50479, + "closest_goal_object_id": 129, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -2.48263, + 2.91628, + -0.09376 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_cushion", + "start_potision_viewpoint_id": "53d4ad8fb39a4cd8bc03b9d585698a93", + "path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "0_edge_77_newN_1", + "0_edge_161_newN_0" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + "d339130a5534437da266a71435143314", + "0_edge_77_newN_1", + "0_edge_161_newN_0" + ], + "refined_path": [ + "53d4ad8fb39a4cd8bc03b9d585698a93", + "7cae5e5f8adf444d829c95b4a4412ffd", + "34a370fe2d1840e196a491db1e995e16", + "d339130a5534437da266a71435143314", + "4bb7642a8af44f97acb81190589a3451", + [ + "d339130a5534437da266a71435143314" + ], + "0_edge_77_newN_1", + "0_edge_161_newN_0" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3TXWC2NHN1TRI1ES2AYYH7SB7XOS91", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.79773, + 0.11628, + -3.88389 + ], + "start_rotation": [ + 0, + 0.87108, + 0, + 0.49114 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.35395, + "euclidean_distance": 10.7314, + "closest_goal_object_id": 402, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -10.32644, + 0.11628, + 6.88897 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_plant", + "start_potision_viewpoint_id": "0_edge_210_newN_0", + "path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973", + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + "db59566f6465453d88a27b5bcb19b096", + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + "c0baa7759b714fa794ca1fabbd96a96b", + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + "d0a013ec97674abc8fd7657ea7844221" + ], + "refined_path": [ + "0_edge_210_newN_0", + "bd9faec23bb3462c94a5fbc6c0a3d5cf", + "0_edge_82_newN_0", + "e5e6c99e38014827b50ad33cd22e3c9d", + "5c3c7dfad2b3409182ecaf5535107dc5", + "4545f7a0d918401ebccdb6716a5f1fce", + "0cd0dd452a324496afd701e1c4b2e973", + "1d8256878b534440b5ba54b31bfb210b", + "8b8c58d65b3049ef8a844f237096b06d", + "f53ff13e8a954c67bda9a46f3e2e88b8", + "eb3364f96bed4877b27ce5e0cfa32702", + [ + "f53ff13e8a954c67bda9a46f3e2e88b8", + "8b8c58d65b3049ef8a844f237096b06d", + "1d8256878b534440b5ba54b31bfb210b", + "0cd0dd452a324496afd701e1c4b2e973" + ], + "8b219cad487e4091b7c29146f0224729", + "db59566f6465453d88a27b5bcb19b096", + "19c6928f8cc64d7aa2d18a48e3b4ee21", + [ + "db59566f6465453d88a27b5bcb19b096" + ], + "50629d10507840cba1ff155045d3f76b", + "8f5a767771964a56b3708d5415c446b2", + "32fb55017460457cbe0b8d1790a54786", + "c0baa7759b714fa794ca1fabbd96a96b", + "0_edge_204_newN_1", + [ + "c0baa7759b714fa794ca1fabbd96a96b" + ], + "e5f8d864ab7545d3bae0e56a527041ec", + "d0a013ec97674abc8fd7657ea7844221", + "0_edge_153_newN_2", + [ + "d0a013ec97674abc8fd7657ea7844221" + ] + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3NKQQ8O3908J04JD3VY0I4TQZAKDUN", + "scene_id": "mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb", + "start_position": [ + -10.23268, + 2.91628, + 0.759 + ], + "start_rotation": [ + 0, + 0.79766, + 0, + 0.60311 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 2.02566, + "euclidean_distance": 1.71249, + "closest_goal_object_id": 25, + "navigation_bounds": [ + [ + -15.87565, + -0.08372, + -7.89466 + ], + [ + 3.44822, + 7.53246, + 8.1753 + ] + ], + "best_viewpoint_position": [ + -11.59042, + 2.91628, + 1.94976 + ] + }, + "goals": [], + "goals_key": "S9hNv5qa7GM.glb_towel", + "start_potision_viewpoint_id": "625eb179629b45f280c01d3f6ec74b4f", + "path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ], + "refined_path": [ + "625eb179629b45f280c01d3f6ec74b4f", + "584c7c4b1e5a4b2aa4f6c0457d8336e8", + "151812f86ba842afac3c1778a479610d", + "374e664207754a3b95a7d8010e122296", + "0_edge_91_newN_1", + [ + "374e664207754a3b95a7d8010e122296", + "151812f86ba842afac3c1778a479610d", + "584c7c4b1e5a4b2aa4f6c0457d8336e8" + ], + "0_edge_185_newN_1", + "6fbfaa4207454c288739caceb9512fb5" + ] + } +] \ No newline at end of file