diff --git "a/MP3D/habitatweb/train/jh4fc5c5qoQ.json" "b/MP3D/habitatweb/train/jh4fc5c5qoQ.json" new file mode 100644--- /dev/null +++ "b/MP3D/habitatweb/train/jh4fc5c5qoQ.json" @@ -0,0 +1,114852 @@ +[ + { + "jh4fc5c5qoQ.glb_cushion": [ + { + "position": [ + -0.31445, + 1.01661, + -1.03748 + ], + "radius": null, + "object_id": 54, + "object_name": "0_3_54", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_33_newN_2", + "observable_viewpoint_ids": [ + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2" + ] + }, + { + "position": [ + 1.04605, + 1.31765, + -1.77164 + ], + "radius": null, + "object_id": 55, + "object_name": "0_3_55", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_33_newN_0", + "observable_viewpoint_ids": [ + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "position": [ + 0.30014, + 1.19738, + -2.44314 + ], + "radius": null, + "object_id": 49, + "object_name": "0_3_49", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "cf7dde32a96d412791ca901207e4f3dd", + "observable_viewpoint_ids": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_0" + ] + }, + { + "position": [ + 13.3665, + 0.69137, + -3.34433 + ], + "radius": null, + "object_id": 217, + "object_name": "0_13_217", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "77f0b306ce7d4055a9c123a52019d6f0", + "observable_viewpoint_ids": [ + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5" + ] + }, + { + "position": [ + 4.98394, + 1.62201, + -1.97106 + ], + "radius": null, + "object_id": 3, + "object_name": "0_0_3", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "45b6596b2c8f4336b7293cfd6d910492", + "observable_viewpoint_ids": [ + "45b6596b2c8f4336b7293cfd6d910492", + "0_edge_55_newN_1", + "755d110c2ed84d76be11ad56ae00b53f" + ] + }, + { + "position": [ + 14.2171, + 0.88094, + -7.50729 + ], + "radius": null, + "object_id": 175, + "object_name": "0_10_175", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "6f8d55f24a85428894e82cb9f5f082d6", + "observable_viewpoint_ids": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "position": [ + 14.3029, + 0.83032, + -6.91982 + ], + "radius": null, + "object_id": 176, + "object_name": "0_10_176", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "observable_viewpoint_ids": [ + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "position": [ + 14.3, + 0.81665, + -8.09107 + ], + "radius": null, + "object_id": 179, + "object_name": "0_10_179", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "30cdb6fe9aa6449788e271f2e24d76ec", + "observable_viewpoint_ids": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "all_observation_viewpoint_ids": [ + "45b6596b2c8f4336b7293cfd6d910492", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "a59a3a61089343a8ba2834e7d3cd1066", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "0_edge_43_newN_1", + "0_edge_55_newN_1", + "0_edge_33_newN_0", + "cf7dde32a96d412791ca901207e4f3dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_33_newN_2", + "755d110c2ed84d76be11ad56ae00b53f" + ] + } + ], + "jh4fc5c5qoQ.glb_chest_of_drawers": [ + { + "position": [ + 1.87573, + 1.23662, + -1.81906 + ], + "radius": null, + "object_id": 16, + "object_name": "0_0_16", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "755d110c2ed84d76be11ad56ae00b53f", + "observable_viewpoint_ids": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ] + }, + { + "position": [ + 10.8379, + 0.50303, + -7.49287 + ], + "radius": null, + "object_id": 173, + "object_name": "0_10_173", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "6f8d55f24a85428894e82cb9f5f082d6", + "observable_viewpoint_ids": [ + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6" + ] + }, + { + "position": [ + 5.06293, + 1.18907, + -0.85299 + ], + "radius": null, + "object_id": 6, + "object_name": "0_0_6", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "45b6596b2c8f4336b7293cfd6d910492", + "observable_viewpoint_ids": [ + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "position": [ + 5.02881, + 1.29117, + -2.97504 + ], + "radius": null, + "object_id": 8, + "object_name": "0_0_8", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "45b6596b2c8f4336b7293cfd6d910492", + "observable_viewpoint_ids": [ + "755d110c2ed84d76be11ad56ae00b53f" + ] + }, + { + "all_observation_viewpoint_ids": [ + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "d6d4416592a0483691a1ed7d3b336a1a", + "1eac2c379ebf4e059f4a35e584f82f9b", + "755d110c2ed84d76be11ad56ae00b53f" + ] + } + ], + "jh4fc5c5qoQ.glb_bed": [ + { + "position": [ + 4.20534, + 1.58373, + -1.84556 + ], + "radius": null, + "object_id": 11, + "object_name": "0_0_11", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "45b6596b2c8f4336b7293cfd6d910492", + "observable_viewpoint_ids": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "0_edge_55_newN_1", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "45b6596b2c8f4336b7293cfd6d910492", + "755d110c2ed84d76be11ad56ae00b53f" + ] + }, + { + "position": [ + 13.3214, + 0.51269, + -7.44366 + ], + "radius": null, + "object_id": 162, + "object_name": "0_10_162", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "6f8d55f24a85428894e82cb9f5f082d6", + "observable_viewpoint_ids": [ + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6" + ] + }, + { + "all_observation_viewpoint_ids": [ + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "d6d4416592a0483691a1ed7d3b336a1a", + "0_edge_55_newN_1", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "45b6596b2c8f4336b7293cfd6d910492", + "755d110c2ed84d76be11ad56ae00b53f" + ] + } + ], + "jh4fc5c5qoQ.glb_chair": [ + { + "position": [ + 14.0009, + 0.39147, + -1.25808 + ], + "radius": null, + "object_id": 218, + "object_name": "0_13_218", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "77f0b306ce7d4055a9c123a52019d6f0", + "observable_viewpoint_ids": [ + "77f0b306ce7d4055a9c123a52019d6f0", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "position": [ + 12.731, + 0.39664, + -1.31749 + ], + "radius": null, + "object_id": 213, + "object_name": "0_13_213", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "97739a403b984dcd8253741a073b18dd", + "observable_viewpoint_ids": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "77f0b306ce7d4055a9c123a52019d6f0", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "position": [ + 13.0114, + 0.36539, + 2.80613 + ], + "radius": null, + "object_id": 159, + "object_name": "0_9_159", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_75_newN_1", + "observable_viewpoint_ids": [ + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d" + ] + }, + { + "position": [ + 13.3461, + 0.40671, + -3.259 + ], + "radius": null, + "object_id": 216, + "object_name": "0_13_216", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "77f0b306ce7d4055a9c123a52019d6f0", + "observable_viewpoint_ids": [ + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5" + ] + }, + { + "position": [ + 14.0767, + 0.35981, + 2.82193 + ], + "radius": null, + "object_id": 150, + "object_name": "0_9_150", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "800eb666021c4fd2a603dc9d89b8a50d", + "observable_viewpoint_ids": [ + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d" + ] + }, + { + "position": [ + 8.39489, + 0.43107, + 0.30948 + ], + "radius": null, + "object_id": 133, + "object_name": "0_8_133", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "observable_viewpoint_ids": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ] + }, + { + "position": [ + 7.42524, + 0.4259, + 0.27213 + ], + "radius": null, + "object_id": 139, + "object_name": "0_8_139", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "observable_viewpoint_ids": [ + "0_edge_78_newN_0", + "0_edge_13_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8" + ] + }, + { + "position": [ + 8.25911, + 0.42295, + -0.76629 + ], + "radius": null, + "object_id": 144, + "object_name": "0_8_144", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_12_newN_0", + "observable_viewpoint_ids": [ + "0_edge_13_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "3362c518d40641d4b95d317186bde71b", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903" + ] + }, + { + "position": [ + 7.29633, + 0.41728, + -0.54936 + ], + "radius": null, + "object_id": 145, + "object_name": "0_8_145", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_13_newN_0", + "observable_viewpoint_ids": [ + "0_edge_13_newN_0", + "0_edge_72_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903" + ] + }, + { + "position": [ + 4.47534, + 1.37553, + 2.47007 + ], + "radius": null, + "object_id": 123, + "object_name": "0_7_123", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "373c50dfa27649188f8e5b66c28f10a7", + "observable_viewpoint_ids": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7" + ] + }, + { + "position": [ + 10.8211, + 0.51344, + -8.50973 + ], + "radius": null, + "object_id": 170, + "object_name": "0_10_170", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "30cdb6fe9aa6449788e271f2e24d76ec", + "observable_viewpoint_ids": [ + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "position": [ + 3.26706, + 1.36768, + 2.49814 + ], + "radius": null, + "object_id": 125, + "object_name": "0_7_125", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_44_newN_0", + "observable_viewpoint_ids": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0" + ] + }, + { + "position": [ + 2.44204, + 1.3666, + 2.46216 + ], + "radius": null, + "object_id": 119, + "object_name": "0_7_119", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_44_newN_0", + "observable_viewpoint_ids": [ + "792bca2f015c482a82fae650dd5607f5", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "3da7e4f299e74a429ca5d336deb2a96f", + "48a2541fc50b4a57a609698e2375e9b1" + ] + }, + { + "position": [ + -1.38957, + 1.25255, + 0.34288 + ], + "radius": null, + "object_id": 64, + "object_name": "0_4_64", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "6ab11272308c46068c9ae583da8ff311", + "observable_viewpoint_ids": [ + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_33_newN_0", + "0_edge_33_newN_2" + ] + }, + { + "position": [ + -2.05519, + 1.24201, + -1.27829 + ], + "radius": null, + "object_id": 48, + "object_name": "0_3_48", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_33_newN_2", + "observable_viewpoint_ids": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ] + }, + { + "position": [ + -2.0788, + 1.22771, + -1.93129 + ], + "radius": null, + "object_id": 47, + "object_name": "0_3_47", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "cf7dde32a96d412791ca901207e4f3dd", + "observable_viewpoint_ids": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2" + ] + }, + { + "position": [ + 0.03099, + 1.281, + -2.91172 + ], + "radius": null, + "object_id": 52, + "object_name": "0_3_52", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "cf7dde32a96d412791ca901207e4f3dd", + "observable_viewpoint_ids": [ + "cf7dde32a96d412791ca901207e4f3dd" + ] + }, + { + "position": [ + 2.00751, + 1.18601, + -3.00548 + ], + "radius": null, + "object_id": 17, + "object_name": "0_0_17", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "755d110c2ed84d76be11ad56ae00b53f", + "observable_viewpoint_ids": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ] + }, + { + "all_observation_viewpoint_ids": [ + "0_edge_78_newN_0", + "0_edge_13_newN_0", + "97739a403b984dcd8253741a073b18dd", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "3362c518d40641d4b95d317186bde71b", + "0_edge_17_newN_0", + "abbdc7ac89204f23a935fcb9ccae887c", + "755d110c2ed84d76be11ad56ae00b53f", + "6f8d55f24a85428894e82cb9f5f082d6", + "3182b6eba9ce405f9e1c0af86cc6b862", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_44_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "48a2541fc50b4a57a609698e2375e9b1", + "04135640920a4ba2b7dc68c679c43903", + "0_edge_33_newN_2", + "77f0b306ce7d4055a9c123a52019d6f0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_33_newN_0", + "d6d4416592a0483691a1ed7d3b336a1a", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_43_newN_1", + "0_edge_75_newN_1", + "cf7dde32a96d412791ca901207e4f3dd", + "4547d37b305e41bdad0de45ade6971ca", + "30cdb6fe9aa6449788e271f2e24d76ec", + "0_edge_29_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_72_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "8554983cf79243f6bfb0f6fa8950e8a5", + "373c50dfa27649188f8e5b66c28f10a7" + ] + } + ], + "jh4fc5c5qoQ.glb_toilet": [ + { + "position": [ + 4.83177, + 1.33592, + 1.14985 + ], + "radius": null, + "object_id": 24, + "object_name": "0_1_24", + "object_category": "toilet", + "room_id": null, + "room_name": null, + "viewpoint_id": "565e3e860daa4b9fa39e79bc38c4b65b", + "observable_viewpoint_ids": [ + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "position": [ + 12.7394, + 0.37294, + -5.53076 + ], + "radius": null, + "object_id": 185, + "object_name": "0_11_185", + "object_category": "toilet", + "room_id": null, + "room_name": null, + "viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "observable_viewpoint_ids": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5" + ] + }, + { + "all_observation_viewpoint_ids": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "1eac2c379ebf4e059f4a35e584f82f9b", + "8554983cf79243f6bfb0f6fa8950e8a5" + ] + } + ], + "jh4fc5c5qoQ.glb_sink": [ + { + "position": [ + 10.8486, + 0.783, + -2.07798 + ], + "radius": null, + "object_id": 242, + "object_name": "0_14_242", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "abbdc7ac89204f23a935fcb9ccae887c", + "observable_viewpoint_ids": [ + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "position": [ + 14.0865, + 0.43514, + -4.70555 + ], + "radius": null, + "object_id": 193, + "object_name": "0_11_193", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "observable_viewpoint_ids": [ + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "position": [ + -0.26012, + 1.55782, + 3.22138 + ], + "radius": null, + "object_id": 86, + "object_name": "0_6_86", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "d2600c4cac6445a7b7f0eef51a074043", + "observable_viewpoint_ids": [ + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "position": [ + 4.81041, + 1.26812, + -0.12358 + ], + "radius": null, + "object_id": 27, + "object_name": "0_1_27", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "565e3e860daa4b9fa39e79bc38c4b65b", + "observable_viewpoint_ids": [ + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "all_observation_viewpoint_ids": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "97739a403b984dcd8253741a073b18dd", + "d2600c4cac6445a7b7f0eef51a074043", + "1eac2c379ebf4e059f4a35e584f82f9b", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + } + ], + "jh4fc5c5qoQ.glb_towel": [ + { + "position": [ + 12.9758, + 1.21609, + -5.92223 + ], + "radius": null, + "object_id": 184, + "object_name": "0_11_184", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "observable_viewpoint_ids": [ + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "position": [ + 13.7682, + 1.10911, + -4.92074 + ], + "radius": null, + "object_id": 197, + "object_name": "0_11_197", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "observable_viewpoint_ids": [ + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "position": [ + 4.36885, + 1.78882, + -0.32083 + ], + "radius": null, + "object_id": 28, + "object_name": "0_0_28", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "45b6596b2c8f4336b7293cfd6d910492", + "observable_viewpoint_ids": [ + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "all_observation_viewpoint_ids": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + } + ], + "jh4fc5c5qoQ.glb_table": [ + { + "position": [ + 2.04671, + 1.1652, + 1.16196 + ], + "radius": null, + "object_id": 33, + "object_name": "0_2_33", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "48a2541fc50b4a57a609698e2375e9b1", + "observable_viewpoint_ids": [ + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ] + }, + { + "position": [ + -1.89191, + 1.18558, + 0.33663 + ], + "radius": null, + "object_id": 63, + "object_name": "0_4_63", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "6ab11272308c46068c9ae583da8ff311", + "observable_viewpoint_ids": [ + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_33_newN_2" + ] + }, + { + "position": [ + 0.03394, + 1.13211, + -1.75045 + ], + "radius": null, + "object_id": 51, + "object_name": "0_3_51", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "cf7dde32a96d412791ca901207e4f3dd", + "observable_viewpoint_ids": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "0_edge_33_newN_0" + ] + }, + { + "position": [ + 7.85549, + 0.62594, + -0.20427 + ], + "radius": null, + "object_id": 138, + "object_name": "0_8_138", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_12_newN_0", + "observable_viewpoint_ids": [ + "0_edge_13_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903" + ] + }, + { + "position": [ + -2.04239, + 1.1577, + -1.53922 + ], + "radius": null, + "object_id": 59, + "object_name": "0_3_59", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_33_newN_2", + "observable_viewpoint_ids": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ] + }, + { + "position": [ + 10.9123, + 0.47361, + 0.07409 + ], + "radius": null, + "object_id": 241, + "object_name": "0_14_241", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "observable_viewpoint_ids": [ + "39791f422b0244aa84b3d41d9b218f7e", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "position": [ + 13.5432, + 0.29425, + 2.58425 + ], + "radius": null, + "object_id": 161, + "object_name": "0_9_161", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_75_newN_1", + "observable_viewpoint_ids": [ + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d" + ] + }, + { + "position": [ + 14.1413, + 0.56091, + 0.53163 + ], + "radius": null, + "object_id": 258, + "object_name": "0_15_258", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "observable_viewpoint_ids": [ + "77f0b306ce7d4055a9c123a52019d6f0", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "position": [ + 13.3962, + 0.20863, + -2.14028 + ], + "radius": null, + "object_id": 212, + "object_name": "0_13_212", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "77f0b306ce7d4055a9c123a52019d6f0", + "observable_viewpoint_ids": [ + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "all_observation_viewpoint_ids": [ + "0_edge_13_newN_0", + "97739a403b984dcd8253741a073b18dd", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "abbdc7ac89204f23a935fcb9ccae887c", + "3182b6eba9ce405f9e1c0af86cc6b862", + "aec90a1137d245ed84d8c1b3e809a1d8", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "04135640920a4ba2b7dc68c679c43903", + "0_edge_33_newN_2", + "ba19aada2e9a47839c0355085f70f7c5", + "77f0b306ce7d4055a9c123a52019d6f0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_43_newN_1", + "0_edge_75_newN_1", + "cf7dde32a96d412791ca901207e4f3dd", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_72_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_33_newN_0" + ] + } + ], + "jh4fc5c5qoQ.glb_sofa": [ + { + "position": [ + 0.99034, + 1.18143, + -1.84985 + ], + "radius": null, + "object_id": 46, + "object_name": "0_3_46", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_33_newN_0", + "observable_viewpoint_ids": [ + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "cf7dde32a96d412791ca901207e4f3dd" + ] + }, + { + "all_observation_viewpoint_ids": [ + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "cf7dde32a96d412791ca901207e4f3dd" + ] + } + ], + "jh4fc5c5qoQ.glb_cabinet": [ + { + "position": [ + 11.1338, + 0.4742, + -2.42848 + ], + "radius": null, + "object_id": 244, + "object_name": "0_14_244", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "abbdc7ac89204f23a935fcb9ccae887c", + "observable_viewpoint_ids": [ + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5" + ] + }, + { + "position": [ + 10.9138, + 1.02871, + -3.99108 + ], + "radius": null, + "object_id": 207, + "object_name": "0_12_207", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "8554983cf79243f6bfb0f6fa8950e8a5", + "observable_viewpoint_ids": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5" + ] + }, + { + "position": [ + -0.25991, + 1.31301, + 3.50542 + ], + "radius": null, + "object_id": 98, + "object_name": "0_6_98", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "d2600c4cac6445a7b7f0eef51a074043", + "observable_viewpoint_ids": [ + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "3da7e4f299e74a429ca5d336deb2a96f" + ] + }, + { + "position": [ + -0.25831, + 1.34696, + 1.53348 + ], + "radius": null, + "object_id": 72, + "object_name": "0_5_72", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "6ab11272308c46068c9ae583da8ff311", + "observable_viewpoint_ids": [ + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "ba19aada2e9a47839c0355085f70f7c5", + "d2600c4cac6445a7b7f0eef51a074043", + "48a2541fc50b4a57a609698e2375e9b1" + ] + }, + { + "position": [ + -0.28263, + 1.29543, + 2.30645 + ], + "radius": null, + "object_id": 109, + "object_name": "0_6_109", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "792bca2f015c482a82fae650dd5607f5", + "observable_viewpoint_ids": [ + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "position": [ + -1.86859, + 1.22811, + 2.14063 + ], + "radius": null, + "object_id": 101, + "object_name": "0_6_101", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "d2600c4cac6445a7b7f0eef51a074043", + "observable_viewpoint_ids": [ + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "position": [ + -0.15329, + 2.16958, + 2.29449 + ], + "radius": null, + "object_id": 90, + "object_name": "0_6_90", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "48a2541fc50b4a57a609698e2375e9b1", + "observable_viewpoint_ids": [ + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "position": [ + -1.73654, + 1.25584, + 3.53168 + ], + "radius": null, + "object_id": 110, + "object_name": "0_6_110", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "d2600c4cac6445a7b7f0eef51a074043", + "observable_viewpoint_ids": [ + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "all_observation_viewpoint_ids": [ + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "ba19aada2e9a47839c0355085f70f7c5", + "b000c5baa76b454caa1c58c9aac585f6", + "97739a403b984dcd8253741a073b18dd", + "d2600c4cac6445a7b7f0eef51a074043", + "0_edge_43_newN_1", + "3da7e4f299e74a429ca5d336deb2a96f", + "48a2541fc50b4a57a609698e2375e9b1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + } + ], + "jh4fc5c5qoQ.glb_plant": [ + { + "position": [ + -1.16084, + 2.01627, + 4.37353 + ], + "radius": null, + "object_id": 88, + "object_name": "0_6_88", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "d2600c4cac6445a7b7f0eef51a074043", + "observable_viewpoint_ids": [ + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "all_observation_viewpoint_ids": [ + "d2600c4cac6445a7b7f0eef51a074043" + ] + } + ], + "jh4fc5c5qoQ.glb_counter": [ + { + "position": [ + 10.8697, + 0.94568, + -2.27931 + ], + "radius": null, + "object_id": 251, + "object_name": "0_14_251", + "object_category": "counter", + "room_id": null, + "room_name": null, + "viewpoint_id": "abbdc7ac89204f23a935fcb9ccae887c", + "observable_viewpoint_ids": [ + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5" + ] + }, + { + "position": [ + -2.027, + 1.41245, + 2.60636 + ], + "radius": null, + "object_id": 99, + "object_name": "0_6_99", + "object_category": "counter", + "room_id": null, + "room_name": null, + "viewpoint_id": "d2600c4cac6445a7b7f0eef51a074043", + "observable_viewpoint_ids": [ + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "all_observation_viewpoint_ids": [ + "6ab11272308c46068c9ae583da8ff311", + "97739a403b984dcd8253741a073b18dd", + "d2600c4cac6445a7b7f0eef51a074043", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + } + ], + "jh4fc5c5qoQ.glb_picture": [ + { + "position": [ + 11.9263, + 1.72385, + 3.26109 + ], + "radius": null, + "object_id": 157, + "object_name": "0_9_157", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_17_newN_0", + "observable_viewpoint_ids": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "800eb666021c4fd2a603dc9d89b8a50d", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_75_newN_1", + "0_edge_17_newN_1", + "0_edge_17_newN_0" + ] + }, + { + "all_observation_viewpoint_ids": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_75_newN_1", + "0_edge_17_newN_1", + "0_edge_17_newN_0" + ] + } + ], + "jh4fc5c5qoQ.glb_shower": [ + { + "position": [ + 13.7513, + 1.09933, + -5.70862 + ], + "radius": null, + "object_id": 191, + "object_name": "0_11_191", + "object_category": "shower", + "room_id": null, + "room_name": null, + "viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "observable_viewpoint_ids": [ + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "all_observation_viewpoint_ids": [ + "a59a3a61089343a8ba2834e7d3cd1066" + ] + } + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:39LOEL67OU8NKFA373RJ93PPP4538B", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.00009, + 1.00557, + -2.7734 + ], + "start_rotation": [ + 0, + 0.86104, + 0, + -0.50854 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 14.99938, + "euclidean_distance": 9.03461, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.60547, + 0.07777, + 3.21774 + ] + }, + "scene_dataset": null, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "755d110c2ed84d76be11ad56ae00b53f", + "path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "1eac2c379ebf4e059f4a35e584f82f9b", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "0_edge_13_newN_0", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "refined_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "0_edge_29_newN_0" + ], + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3B1NLC6UG1Z9KJL8OZ0EEJ9OIINPG0", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.25434, + 0.80557, + 4.83669 + ], + "start_rotation": [ + 0, + 0.91283, + 0, + 0.40834 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 9.42105, + "euclidean_distance": 4.97067, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.73794, + 0.80557, + 0.07304 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3Q8GYXHFER5SAXNK2YVHQMJSTQVC5S", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.5822, + 0.20557, + 2.16515 + ], + "start_rotation": [ + 0, + 0.76154, + 0, + -0.64812 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 13.17728, + "euclidean_distance": 11.03654, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.67216, + 0.80557, + 0.07021 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "39791f422b0244aa84b3d41d9b218f7e", + "path": [ + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:33FBRBDW6Q2BXF6M0W2K26TJVH18CX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.89385, + 0.1627, + 4.1825 + ], + "start_rotation": [ + 0, + 0.98814, + 0, + -0.15357 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.90096, + "euclidean_distance": 5.01769, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.94743, + 0.80557, + 0.13838 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:324G5B4FB5BN396NEBHUT5VNB8A07L", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.68546, + 0.59198, + 4.21332 + ], + "start_rotation": [ + 0, + 0.80797, + 0, + 0.58922 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 9.02375, + "euclidean_distance": 6.78429, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.88728, + 0.80557, + 2.28248 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:37TD41K0AJCTGZLVEU8PJXTK7AACS1", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -0.79477, + 0.80557, + -1.6993 + ], + "start_rotation": [ + 0, + 0.31178, + 0, + -0.95016 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.55145, + "euclidean_distance": 4.86585, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.71211, + 0.80557, + 0.14687 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "cf7dde32a96d412791ca901207e4f3dd", + "path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3QECW5O0KJ49WEPVOKQ7FWJWHEET5F", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.51103, + 0.80557, + -1.18998 + ], + "start_rotation": [ + 0, + 0.13552, + 0, + 0.99078 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 13.32896, + "euclidean_distance": 12.07595, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.70885, + 0.08687, + 3.15897 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "0_edge_33_newN_2", + "path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:32RIADZISU7QLV8GLF270ZHWFY64SV", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.15614, + 0.00557, + -5.03993 + ], + "start_rotation": [ + 0, + 0.29957, + 0, + 0.95408 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.8302, + "euclidean_distance": 2.45258, + "closest_goal_object_id": 212, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.04685, + 0.00557, + -2.75465 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd" + ], + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3X3OR7WPZ1340J0SD9VJ5PJ6PQJ8LH", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.37837, + 0.80557, + 3.93533 + ], + "start_rotation": [ + 0, + 0.89875, + 0, + 0.43845 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 14.06852, + "euclidean_distance": 11.14148, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.62608, + 0.08635, + 3.31028 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "d2600c4cac6445a7b7f0eef51a074043", + "path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "refined_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3QY7M81QH9PPGZDRI4RCCPAWP6JK7E", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.94277, + 0.80557, + 4.46102 + ], + "start_rotation": [ + 0, + 0.97659, + 0, + -0.21511 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.13731, + "euclidean_distance": 4.36256, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.93619, + 0.80557, + 2.18773 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3JW0YLFXRVJV1E89FQIRSG3853KWW5", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.75813, + 0.80557, + 4.6892 + ], + "start_rotation": [ + 0, + 0.64897, + 0, + 0.76081 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.56624, + "euclidean_distance": 4.16681, + "closest_goal_object_id": 138, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 7.18997, + 0.09195, + 1.35024 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A3G5OWGKHW6OL5:3YDGXNSEO1X82BT77HW2J8HV341841", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.79348, + 0.07103, + 3.07776 + ], + "start_rotation": [ + 0, + 0.98577, + 0, + 0.16809 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.36714, + "euclidean_distance": 9.55428, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.82447, + 0.00557, + -4.90731 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AW1QY7Q83DYCJ:3AAJC4I4FIVDPPDFJEJJ2U3IKASZJI", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.21945, + 0.80557, + 3.19289 + ], + "start_rotation": [ + 0, + 0.13381, + 0, + -0.99101 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.4702, + "euclidean_distance": 4.00814, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.72037, + 0.80557, + 0.16979 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3LYA37P8ISQCIBGHVL3SHRWS8VQKBE", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.68065, + 0.00557, + -0.92907 + ], + "start_rotation": [ + 0, + 0.98672, + 0, + -0.16241 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.15839, + "euclidean_distance": 2.02611, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.60676, + 0.20557, + -0.30767 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:38F71OA9GVZXLGS0LZ24FUFHCZAFMV", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.07865, + 0.04019, + 3.85654 + ], + "start_rotation": [ + 0, + 0.66602, + 0, + -0.74593 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.1581, + "euclidean_distance": 5.37249, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.6345, + 0.20557, + -0.07721 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3RWE2M8QWJDC6UYAUIYJP2HDBM50NK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.3259, + 0.00557, + 1.05424 + ], + "start_rotation": [ + 0, + 0.0048, + 0, + 0.99999 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.39628, + "euclidean_distance": 2.8512, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.66621, + 0.80557, + 0.00685 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + ] + }, + { + "episode_id": "AJTLLYV8O5FQU:3R0T90IZ1UFQQUC4JUE8UJAHJ0EGCL", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.19311, + 0.80557, + 3.73182 + ], + "start_rotation": [ + 0, + 0.25045, + 0, + -0.96813 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.59238, + "euclidean_distance": 4.02672, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.08871, + 0.80557, + 0.32659 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ] + }, + { + "episode_id": "A2CWA5VQZ6IWMQ:3SB5N7Y3O576W2HO7ELOZI8GABC0G7", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.17807, + 0.80557, + 3.79752 + ], + "start_rotation": [ + 0, + 0.17373, + 0, + -0.98479 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.12616, + "euclidean_distance": 3.76488, + "closest_goal_object_id": 99, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.4915, + 0.80557, + 1.14632 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3MTMREQS4XLYU156ELMZAR6HDKDAW4", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.53397, + 0.80557, + 3.27245 + ], + "start_rotation": [ + 0, + 0.41553, + 0, + 0.90958 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.17841, + "euclidean_distance": 3.47903, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.57912, + 0.80557, + -0.09419 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + [ + "0_edge_44_newN_0" + ], + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3HRMW88U18T6OCDAIHJJCNSD6W10MQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.88637, + 0.00557, + -3.4162 + ], + "start_rotation": [ + 0, + 0.79579, + 0, + 0.60558 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 1.68751, + "euclidean_distance": 1.59183, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.69318, + 0.00557, + -4.77067 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "abbdc7ac89204f23a935fcb9ccae887c", + "path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:36H9ULYP64X7K8MFI2PCZ2N085XJFD", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.8508, + 0.00557, + -2.90246 + ], + "start_rotation": [ + 0, + 0.67622, + 0, + -0.7367 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.23003, + "euclidean_distance": 3.82595, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.65311, + 0.20557, + -0.16331 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:33FBRBDW6Q2BXF6M0W2K26TJVHN8CJ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.84817, + 0.48244, + 5.10726 + ], + "start_rotation": [ + 0, + 0.99099, + 0, + -0.1339 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.19484, + "euclidean_distance": 5.27612, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.74016, + 0.80557, + 0.11511 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3VNXK88KKEL7ATVWW533SUCJ0UG9V3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.30116, + 0.00557, + 3.12388 + ], + "start_rotation": [ + 0, + 0.99757, + 0, + 0.06967 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 12.81653, + "euclidean_distance": 11.00579, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.7512, + 0.80557, + -0.01073 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "0_edge_17_newN_0", + "path": [ + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3B4YI393VBZ9NGARBGYPY2X2TEGSSX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.94516, + 0.04623, + 4.10032 + ], + "start_rotation": [ + 0, + 0.00698, + 0, + 0.99998 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.38859, + "euclidean_distance": 5.64446, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.68379, + 0.20557, + -0.18375 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3IFS6Q0HJKMKT27V644BU0RFKFWSIL", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.82487, + 0.13776, + 1.51542 + ], + "start_rotation": [ + 0, + 0.6807, + 0, + -0.73257 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 11.3021, + "euclidean_distance": 3.28481, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.85458, + 0.80557, + 0.07979 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "0_edge_78_newN_0", + "path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A75XDPFNICR3T:36WLNQG781D9WBO7ZZSPJWJNOZGEBC", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.77609, + 0.80557, + 4.48543 + ], + "start_rotation": [ + 0, + 0.45221, + 0, + -0.89191 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.79514, + "euclidean_distance": 4.525, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.08295, + 0.80557, + 0.17277 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3V5Q80FXIZUCY08ERMIIZCCM33Z32S", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.62422, + 0.80557, + 2.44868 + ], + "start_rotation": [ + 0, + 0.95861, + 0, + 0.28473 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.45956, + "euclidean_distance": 2.23621, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.05969, + 0.80557, + 0.23207 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "792bca2f015c482a82fae650dd5607f5", + "path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:36ZN444YTT15VAF2ZNN2AVHENQPIOA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.86688, + 0.80557, + 4.13541 + ], + "start_rotation": [ + 0, + 0.91543, + 0, + -0.40247 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.53539, + "euclidean_distance": 4.93636, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.6735, + 0.80557, + -0.50491 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ] + }, + { + "episode_id": "A3B1P3B6X3AM2B:3U088ZLJVMW2TO7OMJP6LLU44YDW0B", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.6459, + 0.00557, + -2.85854 + ], + "start_rotation": [ + 0, + 0.85615, + 0, + 0.51672 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 20.83449, + "euclidean_distance": 14.28738, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.94371, + 0.80557, + 3.83595 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "abbdc7ac89204f23a935fcb9ccae887c", + "path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + [ + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3QRYMNZ7F0KDM3V1SKMT9DJI8YZTNO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.33249, + 0.06351, + 3.53885 + ], + "start_rotation": [ + 0, + 0.43523, + 0, + 0.90032 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.80656, + "euclidean_distance": 12.29011, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.9959, + 0.80557, + 3.76408 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "0_edge_17_newN_0", + "path": [ + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0" + ], + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:3YT88D1N0A17FGC4GSOMZ8YGK4T3KO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.08576, + 0.10325, + 3.36261 + ], + "start_rotation": [ + 0, + 0.01396, + 0, + -0.9999 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.7627, + "euclidean_distance": 1.5768, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.41327, + 0.08934, + 2.68291 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9096013c3596463b9c0500520d12fef1", + "path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ], + "refined_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3HL8HNGX474IEW96WQYZA89XCZE9FZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.74412, + 0.00557, + -2.57921 + ], + "start_rotation": [ + 0, + 0.28121, + 0, + -0.95965 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 15.87399, + "euclidean_distance": 7.28865, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.68958, + 0.00557, + -4.69462 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "d6d4416592a0483691a1ed7d3b336a1a", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3FE2ERCCZZBXCW26CIDMJSIQ95RPO2", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.41339, + 0.00557, + 0.248 + ], + "start_rotation": [ + 0, + 0.78588, + 0, + -0.61838 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.82266, + "euclidean_distance": 2.50614, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.63094, + 0.20557, + -0.83483 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A3G5OWGKHW6OL5:37FMASSAYEULCGQTVIIG4BHFGS9IBB", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.87285, + 0.11382, + 3.2582 + ], + "start_rotation": [ + 0, + 0.11144, + 0, + -0.99377 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 11.34293, + "euclidean_distance": 9.68428, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.69629, + 0.80557, + 0.02875 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3SPJ0334236DKZ3ANSH0ONUGEGBYJD", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.26365, + 0.02828, + 3.41052 + ], + "start_rotation": [ + 0, + 0.55581, + 0, + 0.83131 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.22518, + "euclidean_distance": 6.83001, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.65771, + 0.80557, + -0.27693 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3K2755HG5U6UHMMN8631W4SN3L5FD0", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.51864, + 0.00557, + -5.23316 + ], + "start_rotation": [ + 0, + 0.36752, + 0, + -0.93001 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 1.5261, + "euclidean_distance": 1.25132, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.72377, + 0.00557, + -4.74357 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "b000c5baa76b454caa1c58c9aac585f6", + "path": [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3B1P3B6X3AM2B:3018Q3ZVOKTTM5OKFRCTNSY0L64RAQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.81833, + 0.00557, + -1.72188 + ], + "start_rotation": [ + 0, + 0.30324, + 0, + -0.95292 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 14.26748, + "euclidean_distance": 6.75023, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.97835, + 0.00557, + -4.26435 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A28AXX4NCWPH1F:3DOCMVPBTPHFRQQHVO0H0EDQJHSNNY", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.64881, + 0.80557, + -1.22458 + ], + "start_rotation": [ + 0, + 0.51563, + 0, + -0.85681 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 1.72395, + "euclidean_distance": 1.5201, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.60284, + 0.80557, + 0.05954 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "d6d4416592a0483691a1ed7d3b336a1a", + "path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:36AHBNMV1TF0HD3IDWVPLPZ39VKYD3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.11161, + 0.80557, + 0.00114 + ], + "start_rotation": [ + 0, + 0.19313, + 0, + 0.98117 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.76898, + "euclidean_distance": 1.48609, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.40564, + 0.80557, + -1.49506 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:39LOEL67OU8NKFA373RJ93PPP4538B", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.00009, + 1.00557, + -2.7734 + ], + "start_rotation": [ + 0, + 0.86104, + 0, + -0.50854 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 14.99938, + "euclidean_distance": 9.03461, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.60547, + 0.07777, + 3.21774 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "755d110c2ed84d76be11ad56ae00b53f", + "path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "1eac2c379ebf4e059f4a35e584f82f9b", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "0_edge_13_newN_0", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "refined_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "0_edge_29_newN_0" + ], + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3SKRO2GZ73UB5DYPTOA3BFJJMK71KM", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.97975, + 0.00557, + -1.18701 + ], + "start_rotation": [ + 0, + 0.78618, + 0, + -0.618 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.59468, + "euclidean_distance": 5.67661, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.68945, + 0.20557, + -0.19002 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A314XJY8V1YL12:3GU1KF0O4K4DT2DX8D80D8IR262PBS", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.3024, + 0.80557, + 4.00273 + ], + "start_rotation": [ + 0, + 0.95912, + 0, + -0.283 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 6.59886, + "euclidean_distance": 5.98034, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.71305, + 0.80557, + -0.36678 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "d2600c4cac6445a7b7f0eef51a074043", + "path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "refined_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:32XVDSJFP10DKMGOX4NXVBLS3V92M2", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.57294, + 0.80557, + 4.55907 + ], + "start_rotation": [ + 0, + 0.91036, + 0, + -0.41382 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.58296, + "euclidean_distance": 2.72061, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.929, + 0.80557, + 2.17595 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3OSWBBLG1G0BH8D8809N2BSU7Q7XDF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.06077, + 0.00557, + -2.87865 + ], + "start_rotation": [ + 0, + 0.99099, + 0, + -0.13395 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.27658, + "euclidean_distance": 3.50483, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.82424, + 0.00557, + -5.12542 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "abbdc7ac89204f23a935fcb9ccae887c", + "path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "97739a403b984dcd8253741a073b18dd", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + [ + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "97739a403b984dcd8253741a073b18dd", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3ZAZR5XV03LQHB799M2XFQQNUQACZ8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.96741, + 0.00557, + -0.94522 + ], + "start_rotation": [ + 0, + 0.14977, + 0, + 0.98872 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 12.27854, + "euclidean_distance": 3.59868, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.57826, + 0.80557, + -0.08617 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3WMOAN2SRD0SZVZQXFM8AV735JKVNB", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.5532, + 0.00557, + -3.28969 + ], + "start_rotation": [ + 0, + 0.38493, + 0, + -0.92295 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 15.0684, + "euclidean_distance": 5.68993, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.74125, + 0.80557, + -0.4274 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3YW4XOSQKSOP8931N2E5H2SHOBF1UT", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.82584, + 0.00557, + -2.6926 + ], + "start_rotation": [ + 0, + 0.78113, + 0, + -0.62437 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 14.9917, + "euclidean_distance": 6.22742, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.72238, + 0.00557, + -4.78022 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3BC8WZX3V5ZLLMA1H2YFIINAL9VRRZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.10343, + 0.06686, + 3.19481 + ], + "start_rotation": [ + 0, + 0.75609, + 0, + 0.65447 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.59504, + "euclidean_distance": 1.49668, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.38213, + 0.09506, + 2.66455 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9096013c3596463b9c0500520d12fef1", + "path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "refined_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3QL2OFSM98LW0MTQ6YR3K3JEKBUNCS", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 14.15892, + 0.00557, + 3.87345 + ], + "start_rotation": [ + 0, + 0.0324, + 0, + -0.99948 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 18.54252, + "euclidean_distance": 15.11074, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.03916, + 0.80557, + 3.90756 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "800eb666021c4fd2a603dc9d89b8a50d", + "path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "0_edge_17_newN_0", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "0_edge_43_newN_1", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0" + ], + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3IRIK4HM3CNOT1NY7H5MISXSPM1C65", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.76854, + 0.05156, + 2.49991 + ], + "start_rotation": [ + 0, + 0.84927, + 0, + -0.52796 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 11.29551, + "euclidean_distance": 9.36199, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.66702, + 0.80557, + 0.07213 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "0_edge_17_newN_1", + "path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3KRVW3HTZPO6PLXMRJ23MTYW1OCMSR", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.75746, + 0.07308, + 5.25773 + ], + "start_rotation": [ + 0, + 0.96766, + 0, + 0.25224 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 2.50711, + "euclidean_distance": 2.23183, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.7032, + 0.14499, + 4.06529 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3GDTJDAPVWEO61IDDLWY52YVPVRM8F", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.38187, + 1.00557, + -3.0473 + ], + "start_rotation": [ + 0, + 0.73851, + 0, + -0.67424 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 4.11476, + "euclidean_distance": 3.31375, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.75377, + 0.80557, + 0.22794 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "755d110c2ed84d76be11ad56ae00b53f", + "path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A28AXX4NCWPH1F:3JBT3HLQFA59B0GDERO3ZQPUTA1PZD", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.72378, + 0.53408, + 2.56953 + ], + "start_rotation": [ + 0, + 0.35021, + 0, + 0.93667 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.08034, + "euclidean_distance": 6.78639, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.04861, + 0.80557, + 3.88077 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "373c50dfa27649188f8e5b66c28f10a7", + "path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "9e3bb94fbf7f4dc0a74911414ca95753", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "0_edge_43_newN_1", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0" + ], + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3PH3VY7DJN0ZV9DEQD2YRKXQM6JZWV", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.89289, + 0.20557, + -0.09452 + ], + "start_rotation": [ + 0, + 0.16857, + 0, + 0.98569 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.33234, + "euclidean_distance": 4.70492, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.74288, + 0.00557, + -4.73206 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3Z7EFSHGNBH1CG7U84ECI5ACMQ8XCS", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.68383, + 0.00557, + -2.28469 + ], + "start_rotation": [ + 0, + 0.93381, + 0, + -0.35778 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 10.00543, + "euclidean_distance": 5.30609, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.58238, + 0.20557, + -0.19116 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3PPTZCWALSNUBCHSE43SZVF4Y5OZQD", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.37627, + 0.00557, + -3.07309 + ], + "start_rotation": [ + 0, + 0.07767, + 0, + -0.99698 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.32112, + "euclidean_distance": 3.59845, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.63881, + 0.20557, + -0.23993 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3X31TUMD7ZPMPJG7EOM4QFWYBK61LJ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.1933, + 0.23068, + 2.50482 + ], + "start_rotation": [ + 0, + 0.03495, + 0, + 0.99939 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.51029, + "euclidean_distance": 6.42472, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.61235, + 0.20557, + -0.94189 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "0_edge_78_newN_0", + "path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A2JXPT39AWRES7:3QAPZX2QN6GGH89H8Z0ZXEEF0RB02Q", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.21002, + 0.80557, + 4.78573 + ], + "start_rotation": [ + 0, + 0.55818, + 0, + 0.82972 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.08168, + "euclidean_distance": 1.01254, + "closest_goal_object_id": 123, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 4.87589, + 0.80557, + 3.94855 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3Z7ISHFUH2YO58HWSAMSD4U44ZL8ZU", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.359, + 0.00557, + 1.00462 + ], + "start_rotation": [ + 0, + 0.95628, + 0, + -0.29244 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.37736, + "euclidean_distance": 2.54074, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.63865, + 0.20557, + -0.17416 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3ZWFC4W1UWAOIW5SQ7YL1T9RILMRF6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.42539, + 0.80557, + 4.93616 + ], + "start_rotation": [ + 0, + 0.9229, + 0, + 0.38504 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.91168, + "euclidean_distance": 4.56208, + "closest_goal_object_id": 138, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 7.29328, + 0.1165, + 1.52267 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:374TNBHA8DYU6M7NII19LO62SBWYQX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.71926, + 0.00557, + 1.04154 + ], + "start_rotation": [ + 0, + 0.48326, + 0, + 0.87547 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 9.20484, + "euclidean_distance": 6.0863, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.75377, + 0.80557, + 0.15154 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A302KOFOYLD89A:3DQQ64TANIO5H5B8344W0MVCC6MPW8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.51531, + 0.70435, + 5.15841 + ], + "start_rotation": [ + 0, + 0.99361, + 0, + 0.11283 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.56728, + "euclidean_distance": 1.47138, + "closest_goal_object_id": 123, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 4.87592, + 0.80557, + 3.92565 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3P529IW9K0ODFYAFLN1PFH0SCTSLF5", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.28149, + 0.80557, + 4.65477 + ], + "start_rotation": [ + 0, + 0.26674, + 0, + -0.96377 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 15.84749, + "euclidean_distance": 13.35523, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.71314, + 0.00557, + -4.70877 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2CWA5VQZ6IWMQ:3KAKFY4PGW5G9LMGGP3AMSJ3S0G3IP", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.48096, + 0.80557, + -0.18931 + ], + "start_rotation": [ + 0, + 0.85469, + 0, + 0.51913 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.35405, + "euclidean_distance": 1.2744, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.41393, + 0.80557, + -1.52389 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "0_edge_29_newN_0" + ] + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3KAKFY4PGW5G9LMGGP3AMSJ3SZ03I7", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.81243, + 0.00557, + -1.55056 + ], + "start_rotation": [ + 0, + 0.74908, + 0, + 0.66248 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 9.46745, + "euclidean_distance": 3.8073, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.67834, + 0.20557, + -0.9524 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3E1QT0TDFRC2AISMS6Y6D9RE8LR8I3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.73028, + 0.00557, + 2.86407 + ], + "start_rotation": [ + 0, + 0.35172, + 0, + -0.9361 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.24454, + "euclidean_distance": 8.48875, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.70517, + 0.80557, + 0.09683 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3WJ1OXY92CJN409OGI6TWB3VVEXA8E", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.66541, + 0.00557, + -2.09736 + ], + "start_rotation": [ + 0, + 0.1838, + 0, + 0.98296 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.90326, + "euclidean_distance": 4.56658, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.93463, + 0.00557, + 1.0141 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + [ + "04135640920a4ba2b7dc68c679c43903" + ], + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3DYGAII7PNB0X8FMRV5Q8XDQO5YPQX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.80733, + 0.80557, + 4.53431 + ], + "start_rotation": [ + 0, + 0.99453, + 0, + 0.10445 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 14.53316, + "euclidean_distance": 12.23602, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.70959, + 0.00557, + -4.78405 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "d6d4416592a0483691a1ed7d3b336a1a", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3FTF2T8WLTLKPIV1MF8ZEWVX737W9P", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.04403, + 0.37637, + 3.55816 + ], + "start_rotation": [ + 0, + 0.10681, + 0, + 0.99428 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.52467, + "euclidean_distance": 6.36439, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.77443, + 0.80557, + 0.00761 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:37M28K1J0SGCOH577M3KL1C9BP0AJ7", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.48194, + 0.66118, + 3.84822 + ], + "start_rotation": [ + 0, + 0.3864, + 0, + 0.92233 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.4594, + "euclidean_distance": 5.13279, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.80146, + 0.80557, + -0.49887 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3L0KT67Y8GJ6J2M0AMQEGOL3AYRSYO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.20411, + 0.00557, + -3.01101 + ], + "start_rotation": [ + 0, + 0.97728, + 0, + -0.21196 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 14.85991, + "euclidean_distance": 6.37309, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.38183, + 0.80557, + -0.11737 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3ZY8KE4ISL6D2SCID7EPEP28AU4QVQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.71115, + 0.80557, + 4.23046 + ], + "start_rotation": [ + 0, + 0.36247, + 0, + 0.93199 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 7.04001, + "euclidean_distance": 4.26701, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.71665, + 0.80557, + 0.06589 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3VELCLL3GMM0PR6BSDJ6V2REENQF1W", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.32448, + 0.00557, + 1.88249 + ], + "start_rotation": [ + 0, + 0.78082, + 0, + 0.62476 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 10.70324, + "euclidean_distance": 8.39686, + "closest_goal_object_id": 162, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.5783, + 0.00557, + -6.17554 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "0_edge_17_newN_1", + "path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3IOEN3P9S9M46YD0RKG21WE1LOF61C", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.34415, + 0.02097, + 1.12977 + ], + "start_rotation": [ + 0, + 0.44327, + 0, + -0.89639 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.11017, + "euclidean_distance": 6.58234, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.94772, + 0.00557, + -4.33448 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A28AXX4NCWPH1F:3018Q3ZVOKTTM5OKFRCTNSY0L54RAO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.23994, + 0.03044, + 2.33914 + ], + "start_rotation": [ + 0, + 0.90883, + 0, + -0.41716 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 10.57643, + "euclidean_distance": 8.40427, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.69611, + 0.00557, + -4.73464 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "d6d4416592a0483691a1ed7d3b336a1a", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + [ + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3U84XHCDIEGNM7UUG7WFWSEZ2DJ4ZD", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.61396, + 0.00557, + -2.40015 + ], + "start_rotation": [ + 0, + 0.81108, + 0, + -0.58494 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 13.99546, + "euclidean_distance": 4.45643, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.67844, + 0.80557, + -0.40025 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3WMINLGALD6PG3Z1XUMYYXZEL4WCAY", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -0.91756, + 0.80557, + 3.97445 + ], + "start_rotation": [ + 0, + 0.97997, + 0, + 0.19916 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.22752, + "euclidean_distance": 2.22752, + "closest_goal_object_id": 64, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.93638, + 0.80557, + 1.77725 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "d2600c4cac6445a7b7f0eef51a074043", + "path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3IAS3U3I0HJH1VCR6FXOHVAYRWVB2C", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.92437, + 0.20557, + -0.18245 + ], + "start_rotation": [ + 0, + 0.84247, + 0, + -0.53874 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 15.82206, + "euclidean_distance": 12.16735, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.67491, + 0.80557, + 0.0979 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3IQ1VMJRYVNNI5SYLAC7W7Y6FJZ9AK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.97577, + 0.00557, + -4.65138 + ], + "start_rotation": [ + 0, + 0.3194, + 0, + 0.94762 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 20.50047, + "euclidean_distance": 13.08919, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.77891, + 0.80557, + -0.04802 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3JRJSWSMQJO4TGKUK6DJ1DLB07O3EV", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.48398, + 0.00825, + 3.87069 + ], + "start_rotation": [ + 0, + 0.88693, + 0, + -0.4619 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 10.70675, + "euclidean_distance": 9.62831, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.68309, + 0.00557, + -4.77458 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:31QNSG6A5TW5LYBQ9FU9MK15U69873", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.93618, + 0.00557, + -1.83739 + ], + "start_rotation": [ + 0, + 0.86098, + 0, + 0.50865 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 13.85525, + "euclidean_distance": 5.69616, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.39783, + 0.80557, + -0.13644 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3SBEHTYCWP6HPOJ45AW0CMFG119YIO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.99648, + 0.00557, + -1.96369 + ], + "start_rotation": [ + 0, + 0.93382, + 0, + 0.35775 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.47471, + "euclidean_distance": 3.91601, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.63177, + 0.80557, + 0.05034 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A314XJY8V1YL12:3G0WWMR1UXN0UN39BGSY488VORZQN6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.98762, + 0.80557, + 4.31735 + ], + "start_rotation": [ + 0, + 0.59392, + 0, + -0.80453 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.30491, + "euclidean_distance": 2.76145, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.8494, + 0.80557, + 2.14607 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3137ONMDKI85NSWIFLK3K7AK4C2GEP", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.77785, + 0.05815, + 2.58349 + ], + "start_rotation": [ + 0, + 0.2325, + 0, + -0.9726 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 9.32576, + "euclidean_distance": 8.21718, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.84147, + 0.00557, + -4.92432 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "0_edge_17_newN_1", + "path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3E337GFOLBB9HY9V8KNMAU4TI3UNGA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.01509, + 0.00557, + -2.31688 + ], + "start_rotation": [ + 0, + 0.11236, + 0, + 0.99367 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.98998, + "euclidean_distance": 4.12883, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.6081, + 0.20557, + -0.17728 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:35BLDD71I80MGKD903X25IECFY2VZ4", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.4477, + 0.80557, + -0.73398 + ], + "start_rotation": [ + 0, + 0.8098, + 0, + -0.5867 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.9929, + "euclidean_distance": 10.09398, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.71432, + 0.08276, + 3.08508 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "0_edge_33_newN_0", + "path": [ + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "episode_id": "AONSG5WOC3OX0:3PEIJLRY6VWAQEDZPVEDUZHFE6FWXP", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.96247, + 0.00557, + -1.82349 + ], + "start_rotation": [ + 0, + 0.4598, + 0, + -0.88802 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 14.3141, + "euclidean_distance": 6.57827, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.99984, + 0.00557, + -4.30984 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3YWRV122CU27J9NMMNNKWCFP2HP8UO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.90011, + 0.80557, + 0.14509 + ], + "start_rotation": [ + 0, + 0.73862, + 0, + -0.67412 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.39231, + "euclidean_distance": 2.20853, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.36347, + 0.80557, + -1.34017 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "1eac2c379ebf4e059f4a35e584f82f9b", + "path": [ + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "refined_path": [ + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "0_edge_29_newN_0" + ] + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3MRNMEIQW79GHEWJUH6ZRHX70I2DLG", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.92294, + 0.0556, + 5.24875 + ], + "start_rotation": [ + 0, + 0.9805, + 0, + -0.19651 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 2.41169, + "euclidean_distance": 2.08432, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.66801, + 0.14658, + 4.15758 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "A272X64FOZFYLB:37W3JXSD68BZQJ39UR0FDDOOGCBWYX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.46325, + 0.66521, + 3.57429 + ], + "start_rotation": [ + 0, + 0.79693, + 0, + 0.60407 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.01066, + "euclidean_distance": 6.40418, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.78653, + 0.80557, + 2.23748 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:3MX2NQ3YCBXGDVYFTUR44Z42U9LX5J", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.08807, + 0.80557, + 4.81877 + ], + "start_rotation": [ + 0, + 0.99943, + 0, + 0.0338 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 9.26604, + "euclidean_distance": 4.90607, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.70921, + 0.80557, + 0.04064 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3FFJ6VRIL3RKSTNJX2LRKULWPN9I0K", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.35486, + 0.00557, + -2.3734 + ], + "start_rotation": [ + 0, + 0.53086, + 0, + -0.84746 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.11633, + "euclidean_distance": 5.40043, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.63387, + 0.20393, + -1.09888 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3OLQQLKKNUSFEUMJNR56HK20W4GEJO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 14.1012, + 0.00557, + 3.9734 + ], + "start_rotation": [ + 0, + 0.97619, + 0, + 0.21691 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 11.43413, + "euclidean_distance": 10.41808, + "closest_goal_object_id": 162, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.57049, + 0.00557, + -6.14134 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "800eb666021c4fd2a603dc9d89b8a50d", + "path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:39L1G8WVWSU59FQI8II4UT2HBYA312", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.06958, + 0.12661, + 2.46748 + ], + "start_rotation": [ + 0, + 0.87311, + 0, + 0.48752 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.08387, + "euclidean_distance": 1.00739, + "closest_goal_object_id": 241, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.6068, + 0.20557, + 1.73525 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "39791f422b0244aa84b3d41d9b218f7e", + "path": [ + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3RJSC4XJ12X8G5S4QI2XVLHRK1A504", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.18238, + 0.20557, + 0.6079 + ], + "start_rotation": [ + 0, + 0.78588, + 0, + 0.61837 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.06901, + "euclidean_distance": 5.42484, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.73132, + 0.00557, + -4.76071 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2C8CPT60DE5V8:388U7OUMF94XLSQ2NPF0YMMNCJZR04", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.75547, + 0.80557, + 3.29804 + ], + "start_rotation": [ + 0, + 0.09141, + 0, + -0.99581 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 5.86298, + "euclidean_distance": 3.73776, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.73656, + 0.80557, + 0.13411 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3634BBTX0QXBPX290K4CN180VP3FIQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.16809, + 0.03697, + 3.44123 + ], + "start_rotation": [ + 0, + 0.7208, + 0, + 0.69314 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.08884, + "euclidean_distance": 9.68025, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.85961, + 0.00557, + -4.91746 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3C6FJU71TSWMYFE4ZRLEVP3RVVCUY6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.08251, + 0.00557, + -0.77452 + ], + "start_rotation": [ + 0, + 0.99902, + 0, + -0.04422 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 12.94534, + "euclidean_distance": 9.37681, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.73405, + 0.80557, + 0.08838 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3ZPBJO59KR4EVIDT3WR1ZP40JZ9DHL", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.00257, + 0.00557, + 2.5331 + ], + "start_rotation": [ + 0, + 0.75352, + 0, + 0.65743 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 10.86425, + "euclidean_distance": 9.11301, + "closest_goal_object_id": 162, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.62798, + 0.00557, + -6.16591 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3WRFBPLXRCR8NMX7D5G2R0FKEYS3NL", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.5308, + 0.00557, + -3.25616 + ], + "start_rotation": [ + 0, + 0.89007, + 0, + 0.45582 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.3177, + "euclidean_distance": 11.09357, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.06563, + 0.80557, + 3.75617 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "0_edge_43_newN_1", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0" + ], + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3GNA64GUZG7W4YX37GWCAR89X57Q5M", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.48936, + 0.80557, + 4.47806 + ], + "start_rotation": [ + 0, + 0.51982, + 0, + 0.85428 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.50045, + "euclidean_distance": 5.20327, + "closest_goal_object_id": 99, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.57745, + 0.80557, + 1.18708 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3OS46CRSLH2KSATYYY0R8KLH9JA6V6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.97511, + 0.80557, + 4.99366 + ], + "start_rotation": [ + 0, + 0.78662, + 0, + -0.61744 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 6.11284, + "euclidean_distance": 5.42986, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.59838, + 0.80557, + -0.15206 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3CFJTT4SXVTYA4N3I160Z9VJXX3I70", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.22465, + 0.03183, + 1.64987 + ], + "start_rotation": [ + 0, + 0.96418, + 0, + -0.26527 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.02715, + "euclidean_distance": 7.66723, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.6711, + 0.80557, + 0.01859 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A399GYOD60WD7M:3JPSL1DZ5U2877WSMKVCE8TQK24ANW", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.89377, + 0.00557, + -2.96459 + ], + "start_rotation": [ + 0, + 0.88848, + 0, + -0.45891 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.85921, + "euclidean_distance": 11.99657, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.09502, + 0.80557, + 3.8072 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3VNL7UK1XHM1YBIKUW3G18A960CTF2", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.11869, + 0.24045, + 2.10683 + ], + "start_rotation": [ + 0, + 0.85624, + 0, + -0.51657 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.97502, + "euclidean_distance": 5.76713, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.70646, + 0.80557, + 0.13956 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "0_edge_78_newN_0", + "path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:37UEWGM5HVBXSHBKJ8J0CR5XG0Z1RO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.27594, + 0.00557, + -2.60491 + ], + "start_rotation": [ + 0, + 0.31194, + 0, + -0.9501 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 14.59663, + "euclidean_distance": 6.27079, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.59861, + 0.80557, + -0.10651 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3RWE2M8QWJDC6UYAUIYJP2HDBJZN0V", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.53647, + 0.80557, + 3.88577 + ], + "start_rotation": [ + 0, + 0.14368, + 0, + 0.98962 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.20508, + "euclidean_distance": 4.89526, + "closest_goal_object_id": 99, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.66837, + 0.80557, + 1.1691 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:36DSNE9QZ711QLZ8H582MWWEZSBOJY", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -0.84196, + 0.80557, + -1.03244 + ], + "start_rotation": [ + 0, + 0.99737, + 0, + 0.07242 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 3.95451, + "euclidean_distance": 3.57487, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.72645, + 0.80557, + -0.44376 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_33_newN_2", + "path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:35K3O9HUADGZ9S0N41EL2MA82MVEFU", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.15714, + 0.00557, + 2.70895 + ], + "start_rotation": [ + 0, + 0.90748, + 0, + 0.4201 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.01013, + "euclidean_distance": 1.78871, + "closest_goal_object_id": 241, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.56161, + 0.20557, + 1.72495 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "9096013c3596463b9c0500520d12fef1", + "path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "0_edge_43_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + [ + "9096013c3596463b9c0500520d12fef1" + ], + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3DEL4X4EL8OEFJ8Z4WW1FW2VO2SYXE", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.79955, + 0.80557, + 3.71408 + ], + "start_rotation": [ + 0, + 0.48865, + 0, + -0.87248 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.71419, + "euclidean_distance": 3.61047, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.91145, + 0.80557, + 0.18703 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:33FOTY3KEOOTMFM11BT5NW6BG1I1C8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.57186, + 0.00557, + 1.40363 + ], + "start_rotation": [ + 0, + 0.43005, + 0, + -0.9028 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 13.19314, + "euclidean_distance": 9.85075, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.99027, + 0.80557, + 3.86015 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A302KOFOYLD89A:3O6CYIULEF4I9AJ4KQ3QASIBKJBUWY", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.31519, + 0.20557, + -0.06669 + ], + "start_rotation": [ + 0, + 0.58262, + 0, + -0.81274 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 18.19366, + "euclidean_distance": 13.83244, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.9975, + 0.80557, + 3.90241 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e" + ], + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3S0TNUHWKVLL27C00SXVMCB1GB1D8E", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.26724, + 0.80557, + 4.88005 + ], + "start_rotation": [ + 0, + 0.91829, + 0, + -0.39591 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.18825, + "euclidean_distance": 1.11946, + "closest_goal_object_id": 123, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 4.82587, + 0.80557, + 3.84016 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3E4GGUZ1TAUIUYGLCSAHGYTODFRK25", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.40143, + 0.01437, + 4.12116 + ], + "start_rotation": [ + 0, + 0.11112, + 0, + 0.99381 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.13279, + "euclidean_distance": 9.18615, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.00368, + 0.00557, + -4.3152 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3SB5N7Y3O576W2HO7ELOZI8GA69G0A", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.70779, + 0.07882, + 3.13643 + ], + "start_rotation": [ + 0, + 0.99706, + 0, + -0.07657 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.28591, + "euclidean_distance": 5.12126, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.63718, + 0.20557, + -0.24423 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3TU5ZICBRF4FRGG55E3FMBI0YMVQ8S", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.21422, + 0.80557, + 3.16193 + ], + "start_rotation": [ + 0, + 0.67701, + 0, + -0.73598 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 3.70692, + "euclidean_distance": 3.39355, + "closest_goal_object_id": 99, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.54638, + 0.80557, + 1.17084 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3LWJHTCVCEPO6VQSDS9LW3ZMMW2QFG", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.85266, + 0.80557, + 4.02971 + ], + "start_rotation": [ + 0, + 0.6149, + 0, + -0.7886 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.49884, + "euclidean_distance": 5.05828, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.72775, + 0.80557, + 0.07449 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3R6P78PK7ME7CBEF5G9YJTAL7FTTGI", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.00945, + 0.80557, + 3.07751 + ], + "start_rotation": [ + 0, + 0.24868, + 0, + 0.96859 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 4.08946, + "euclidean_distance": 2.0009, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.84537, + 0.80557, + 2.09571 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3QFUFYSY90IHHQ3UFV28T0YHQ4J4FB", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.20761, + 0.12429, + 1.51655 + ], + "start_rotation": [ + 0, + 0.99123, + 0, + -0.13218 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.85127, + "euclidean_distance": 4.69897, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.66096, + 0.20557, + -0.10662 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:369J354OFFD1AD3393158JI7N8FG6T", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.93762, + 0.00557, + -2.44355 + ], + "start_rotation": [ + 0, + 0.98224, + 0, + 0.18764 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.85764, + "euclidean_distance": 5.1442, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.60889, + 0.20557, + -0.16954 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:36V4Q8R5ZM3UC5I9ZFDYRTJVIP4MQS", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.32859, + 0.70053, + 2.15316 + ], + "start_rotation": [ + 0, + 0.83502, + 0, + -0.55022 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.8029, + "euclidean_distance": 3.71364, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.74862, + 0.80557, + -0.45162 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "373c50dfa27649188f8e5b66c28f10a7", + "path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6" + ] + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3PXX5PX6LZ166Y7VJUQ3NDTW26PBAS", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.58683, + 0.00557, + -2.66063 + ], + "start_rotation": [ + 0, + 0.98407, + 0, + -0.17779 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 12.36393, + "euclidean_distance": 5.91881, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.40275, + 0.00557, + -2.07268 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_0" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + [ + "04135640920a4ba2b7dc68c679c43903" + ], + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0" + ], + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A38AQF5BPHJS4C:3COPXFW7XDFEM5HREQLTCB1HPUNKP7", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.99807, + 0.00557, + 0.43861 + ], + "start_rotation": [ + 0, + 0.97849, + 0, + 0.20631 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 9.15384, + "euclidean_distance": 5.76404, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.61256, + 0.20557, + -1.01649 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3483FV8BEGMBVJVWAOGG6FO6CJZ62C", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.82328, + 0.80557, + 3.90153 + ], + "start_rotation": [ + 0, + 0.25361, + 0, + 0.96731 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 6.34094, + "euclidean_distance": 4.27211, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.76426, + 0.80557, + 0.06518 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A3APKUC67F9IMW:3LYA37P8ISQCIBGHVL3SHRWS8PVKB7", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.47104, + 0.09909, + 3.76854 + ], + "start_rotation": [ + 0, + 0.35609, + 0, + -0.93445 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.06747, + "euclidean_distance": 12.42221, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.06014, + 0.80557, + 3.75346 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "0_edge_17_newN_0", + "path": [ + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "0_edge_43_newN_1", + "0_edge_75_newN_1", + "04135640920a4ba2b7dc68c679c43903", + "0_edge_13_newN_0", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "97739a403b984dcd8253741a073b18dd", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e" + ], + "04135640920a4ba2b7dc68c679c43903", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3DY46V3X3RL7BCE5NO89CGDI0W155E", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.82792, + 0.11159, + 3.31052 + ], + "start_rotation": [ + 0, + 0.07144, + 0, + -0.99745 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.48891, + "euclidean_distance": 6.08394, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.33303, + 0.00557, + -2.11901 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3A4TN5196ML4QQ7F30WQFJMIXP9CHB", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.31184, + 0.00557, + 2.00923 + ], + "start_rotation": [ + 0, + 0.63297, + 0, + 0.77418 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.94142, + "euclidean_distance": 8.80422, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.64036, + 0.80557, + 0.0486 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "0_edge_17_newN_1", + "path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:3D8YOU6S9GNKFV4YT8QMCYJYWH36UU", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.72502, + 0.80557, + 3.98534 + ], + "start_rotation": [ + 0, + 0.15392, + 0, + 0.98808 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.29443, + "euclidean_distance": 5.60048, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.65618, + 0.80557, + 0.08104 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + [ + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A16K7X677N4WN6:30BUDKLTXFY77V7YYP1CGAJVDP65EL", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.35248, + 0.80557, + 3.2829 + ], + "start_rotation": [ + 0, + 0.87838, + 0, + -0.47796 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.82125, + "euclidean_distance": 5.15463, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.27893, + 0.80557, + 0.35028 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3WEV0KO0OOV3LRR9EQ3033B2R0PSDZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.67328, + 0.00557, + 1.41793 + ], + "start_rotation": [ + 0, + 0.11711, + 0, + 0.99312 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 11.44599, + "euclidean_distance": 9.04492, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.72417, + 0.80557, + 0.08449 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3OS4RQUCRBI12PO3UACV1E4N0SQBF6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.43167, + 0.00557, + 0.87566 + ], + "start_rotation": [ + 0, + 0.83529, + 0, + 0.54982 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.58002, + "euclidean_distance": 5.47979, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.63235, + 0.18814, + -1.05452 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:31QNSG6A5TW5LYBQ9FU9MK15TVR78X", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.72318, + 0.00557, + -1.03266 + ], + "start_rotation": [ + 0, + 0.99739, + 0, + 0.07215 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 11.37609, + "euclidean_distance": 4.0196, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.97942, + 0.00557, + -4.21657 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A75XDPFNICR3T:33FOTY3KEOOTMFM11BT5NW6BH5I1CH", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.95606, + 0.00557, + 0.9143 + ], + "start_rotation": [ + 0, + 0.39397, + 0, + -0.91912 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.6755, + "euclidean_distance": 2.8594, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.62392, + 0.20557, + -0.06449 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3KGTPGBS6ZOWXULX66EJML2MGCL2UT", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.39716, + 0.00557, + 0.24979 + ], + "start_rotation": [ + 0, + 0.73485, + 0, + -0.67823 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 11.99362, + "euclidean_distance": 6.8224, + "closest_goal_object_id": 162, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.69344, + 0.00557, + -6.2164 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:352YTHGROXG1VMU0ALQ8WLAU590H45", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.74012, + 0.00557, + -2.03136 + ], + "start_rotation": [ + 0, + 0.64662, + 0, + -0.76281 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 10.51011, + "euclidean_distance": 3.74709, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.43872, + 0.00557, + -2.24108 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3KXIR214I6JXGWRIR0N19H4SHW4429", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.36841, + 0.10419, + 3.78943 + ], + "start_rotation": [ + 0, + 0.99792, + 0, + 0.06446 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.88966, + "euclidean_distance": 7.63015, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.63722, + 0.80557, + 0.1028 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:3HWRJOOET758DX59ALEK9LTNRD1ESR", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.48883, + 0.80557, + 0.09455 + ], + "start_rotation": [ + 0, + 0.54124, + 0, + 0.84087 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.00531, + "euclidean_distance": 5.09637, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.02224, + 0.80557, + 3.85033 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:32UTUBMZ7IZQYMATUPHZJ079OORBVB", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.20344, + 0.34381, + 4.15021 + ], + "start_rotation": [ + 0, + 0.99688, + 0, + 0.07888 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 8.97524, + "euclidean_distance": 5.71268, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.51505, + 0.80557, + -0.10212 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3BGYGHDBBZNNDICVNM4DG27UXJH22M", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.61849, + 0.61908, + 4.12033 + ], + "start_rotation": [ + 0, + 0.50961, + 0, + -0.86041 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.27429, + "euclidean_distance": 6.69237, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.86977, + 0.80557, + 2.11744 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:3X4JMASXCOCA5L9DRSTAY7HJUR10BT", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.38915, + 0.80557, + 0.04235 + ], + "start_rotation": [ + 0, + 0.99997, + 0, + -0.00754 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.59684, + "euclidean_distance": 1.50231, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.45765, + 0.80557, + -1.48338 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:36NEMU28XHGZW2EVBOC4JI1H6O8WMP", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.69367, + 0.04255, + 2.50528 + ], + "start_rotation": [ + 0, + 0.99969, + 0, + -0.02499 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.95016, + "euclidean_distance": 8.65595, + "closest_goal_object_id": 173, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.63867, + 0.00557, + -5.96853 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_17_newN_1", + "path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "refined_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:33PPUNGG3A8UNDWSRJSS4LP9UKIRZK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.12321, + 0.80557, + 4.22921 + ], + "start_rotation": [ + 0, + 0.02002, + 0, + 0.9998 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.37633, + "euclidean_distance": 4.65578, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.64227, + 0.80557, + -0.16879 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3BV8HQ2ZZY400MQ0N39VCX74O5QA6I", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.6674, + 0.80557, + 4.19597 + ], + "start_rotation": [ + 0, + 0.99787, + 0, + 0.06518 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.61205, + "euclidean_distance": 5.06879, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.76504, + 0.80557, + -0.4031 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3QUO65DNQWRA41A2T4CGTY5PGADUO8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.32145, + 0.11394, + 1.71304 + ], + "start_rotation": [ + 0, + 0.93557, + 0, + 0.35313 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.6957, + "euclidean_distance": 4.67333, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.69044, + 0.20557, + -0.11178 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3IAS3U3I0HJH1VCR6FXOHVAYRRU2BS", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.69213, + 0.00557, + -4.22642 + ], + "start_rotation": [ + 0, + 0.5675, + 0, + 0.82337 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.14637, + "euclidean_distance": 2.11211, + "closest_goal_object_id": 212, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.97304, + 0.00557, + -2.84848 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:34Z02EIMIUGA173UREKVY1N50X2T0B", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.02951, + 0.13653, + 2.66236 + ], + "start_rotation": [ + 0, + 0.65581, + 0, + -0.75493 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.90089, + "euclidean_distance": 5.38432, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.63553, + 0.20557, + -0.28658 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "0_edge_78_newN_0", + "path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "AEWGY34WUIA32:34HJIJKLP7Z6DNPKFA7CBM13DOIV4G", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -0.02688, + 0.80557, + -0.40155 + ], + "start_rotation": [ + 0, + 0.10685, + 0, + -0.99427 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.87778, + "euclidean_distance": 2.71312, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.71751, + 0.80557, + -0.37584 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_33_newN_0", + "path": [ + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3QEMNNSB2Z2H2T7HQN5P8CF65TYD7Y", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.96142, + 0.00557, + -2.25591 + ], + "start_rotation": [ + 0, + 0.99993, + 0, + -0.01205 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 9.74953, + "euclidean_distance": 3.82946, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.66957, + 0.20557, + -0.88504 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3U5NZHP4LT5NKFGJ85IWZJLPWARPH9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.90415, + 0.00557, + -2.09107 + ], + "start_rotation": [ + 0, + 0.92813, + 0, + 0.37226 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.67938, + "euclidean_distance": 4.39632, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.96973, + 0.00557, + 1.11745 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "a59a3a61089343a8ba2834e7d3cd1066", + "0_edge_43_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "A12H9WVHOB0E0O:3GU1KF0O4K4DT2DX8D80D8IR2ZJBPH", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.47936, + 0.12816, + 2.53156 + ], + "start_rotation": [ + 0, + 0.89435, + 0, + -0.44736 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.72285, + "euclidean_distance": 12.50069, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.0312, + 0.80557, + 3.92162 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "39791f422b0244aa84b3d41d9b218f7e", + "path": [ + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + [ + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0" + ], + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TYCR1GOTEMJKF1FMZVWI9GANKHZL9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.89507, + 0.00557, + -2.40257 + ], + "start_rotation": [ + 0, + 0.79679, + 0, + -0.60425 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 11.96481, + "euclidean_distance": 5.59476, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.37792, + 0.00557, + -2.21602 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3RUIQRXJBDRZFQKB7Y4NAU5C9I9LLR", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.80621, + 0.46785, + 2.01738 + ], + "start_rotation": [ + 0, + 0.99953, + 0, + 0.03058 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.80676, + "euclidean_distance": 6.4397, + "closest_goal_object_id": 99, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.43091, + 0.80557, + 1.17252 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "373c50dfa27649188f8e5b66c28f10a7", + "path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A17C8CUROFU495:3Y9N9SS8L0EZ1A6UOB2ZVV3Q0Q43D9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.30668, + 0.00557, + -3.30192 + ], + "start_rotation": [ + 0, + 0.02396, + 0, + 0.99971 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 14.6093, + "euclidean_distance": 4.94252, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.62747, + 0.80557, + -0.17417 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A249LDVPG27XCE:32Q90QCQ1UOAPES15C5IIZ2DBQ2EK3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.61763, + 0.00557, + -1.50985 + ], + "start_rotation": [ + 0, + 0.08187, + 0, + -0.99664 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.83496, + "euclidean_distance": 3.48723, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.96314, + 0.00557, + 1.10654 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_12_newN_0", + "0_edge_72_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "97739a403b984dcd8253741a073b18dd", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "0_edge_43_newN_1", + "a59a3a61089343a8ba2834e7d3cd1066", + "30cdb6fe9aa6449788e271f2e24d76ec" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "97739a403b984dcd8253741a073b18dd", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3WQ3B2KGEAJACAUVNBXACC0TZK71BZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.07726, + 0.00557, + -1.13307 + ], + "start_rotation": [ + 0, + 0.98892, + 0, + -0.14847 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.3568, + "euclidean_distance": 5.14048, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.75817, + 0.00557, + -4.7186 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "0_edge_12_newN_0", + "path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3GD6L00D3U06V1YSE0NJQSBNAAX1MR", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.76008, + 0.07406, + 2.48351 + ], + "start_rotation": [ + 0, + 0.30875, + 0, + -0.95114 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.24968, + "euclidean_distance": 6.62614, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.39947, + 0.00557, + -2.09678 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3NJM2BJS4Y9W3753MD4VOSO9JF2PCA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -0.86023, + 0.80557, + 1.22114 + ], + "start_rotation": [ + 0, + 0.99054, + 0, + 0.13723 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 20.67456, + "euclidean_distance": 14.84482, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.77312, + 0.00557, + -4.69785 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "6ab11272308c46068c9ae583da8ff311", + "path": [ + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "d6d4416592a0483691a1ed7d3b336a1a", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311" + ], + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:37TD41K0AJCTGZLVEU8PJXTK75KSCH", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.50601, + 0.80557, + 4.60458 + ], + "start_rotation": [ + 0, + 0.74125, + 0, + 0.67123 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.37162, + "euclidean_distance": 5.48558, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.99357, + 0.80557, + 3.86541 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A35CL66BEUSJ5Z:3VELCLL3GMM0PR6BSDJ6V2REEJTF1R", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.46995, + 0.00557, + -1.68691 + ], + "start_rotation": [ + 0, + 0.98478, + 0, + 0.17382 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 14.07305, + "euclidean_distance": 6.16816, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.99773, + 0.00557, + -4.35248 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3DR23U6WE7H9SXIOZLJAJQP9TV6TEK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.90001, + 0.00557, + 2.22951 + ], + "start_rotation": [ + 0, + 0.4784, + 0, + 0.87814 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.03387, + "euclidean_distance": 3.6317, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.63436, + 0.20557, + -0.26318 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "AY7WPVKHVNBLG:3WI0P0II63VRKCRWZ13VDT665ZLDRD", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.29484, + 0.00557, + 0.393 + ], + "start_rotation": [ + 0, + 0.96828, + 0, + 0.24985 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.67372, + "euclidean_distance": 6.7328, + "closest_goal_object_id": 173, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.57784, + 0.00557, + -5.90941 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3XLBSAQ9Z6FK5UCDI5UMZ4Y9TAH7ZY", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.54583, + 0.80557, + -0.00206 + ], + "start_rotation": [ + 0, + 0.41442, + 0, + 0.91009 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.01237, + "euclidean_distance": 1.86481, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.38897, + 0.80557, + -1.38475 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "1eac2c379ebf4e059f4a35e584f82f9b", + "path": [ + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "refined_path": [ + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3SNLUL3WO6Q2YG75GCWO1H1VM9DLUW", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.33428, + 0.00557, + -1.85177 + ], + "start_rotation": [ + 0, + 0.94491, + 0, + 0.32733 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.97571, + "euclidean_distance": 10.08598, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.0099, + 0.80557, + 3.94182 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1", + "3182b6eba9ce405f9e1c0af86cc6b862", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "3182b6eba9ce405f9e1c0af86cc6b862", + [ + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3JBT3HLQFA59B0GDERO3ZQPUSXQZPL", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.59242, + 0.00557, + 1.54258 + ], + "start_rotation": [ + 0, + 0.02331, + 0, + -0.99973 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.78984, + "euclidean_distance": 2.6594, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.66296, + 0.20557, + -0.27535 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3L0KT67Y8GJ6J2M0AMQEGOL39LKSYQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.34691, + 0.00557, + 3.77931 + ], + "start_rotation": [ + 0, + 0.97702, + 0, + -0.21314 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.75981, + "euclidean_distance": 6.0048, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.47562, + 0.03753, + -2.24417 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "800eb666021c4fd2a603dc9d89b8a50d", + "path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "0_edge_17_newN_0", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3I02618YA29SP1M384PVIYAFRKIUP9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.18077, + 0.80557, + -2.96403 + ], + "start_rotation": [ + 0, + 0.79799, + 0, + -0.60267 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.63823, + "euclidean_distance": 4.62908, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.60833, + 0.80557, + -0.12576 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "cf7dde32a96d412791ca901207e4f3dd", + "path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:36WLNQG781D9WBO7ZZSPJWJNORBBEO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.1437, + 0.00557, + -2.54639 + ], + "start_rotation": [ + 0, + 0.8035, + 0, + 0.5953 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.82031, + "euclidean_distance": 11.97275, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.01196, + 0.80557, + 3.90968 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3L2IS5HSFCLSMGAQSPC3E95KQ1KNU0", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.5253, + 0.80557, + 4.4244 + ], + "start_rotation": [ + 0, + 0.24457, + 0, + -0.96963 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.61317, + "euclidean_distance": 4.38286, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.08791, + 0.80557, + 0.25596 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "refined_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + [ + "0_edge_44_newN_0" + ], + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ] + }, + { + "episode_id": "A101U3FTZYY87V:3BV8HQ2ZZY400MQ0N39VCX74O9KA6K", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.79048, + 0.00557, + -3.08606 + ], + "start_rotation": [ + 0, + 0.25902, + 0, + -0.96587 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 15.53617, + "euclidean_distance": 4.4639, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.79105, + 0.80557, + 0.01795 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3018Q3ZVOKTTM5OKFRCTNSY0L0KRAU", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.69144, + 0.11366, + 3.60524 + ], + "start_rotation": [ + 0, + 0.90625, + 0, + -0.42273 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.69811, + "euclidean_distance": 4.26488, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.66028, + 0.20557, + -0.1943 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3VA45EW49PQUV4J4RG2WIW0S5FB1OF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.38342, + 0.80557, + -0.72949 + ], + "start_rotation": [ + 0, + 0.99524, + 0, + 0.09744 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.89968, + "euclidean_distance": 11.7961, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.77003, + 0.09844, + 3.2194 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "0_edge_33_newN_2", + "path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0" + ], + "refined_path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0" + ], + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:38BQUHLA9Y3RRT5TK2LU2OOV4V6MOJ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.67609, + 0.00557, + 0.9902 + ], + "start_rotation": [ + 0, + 0.52366, + 0, + 0.85193 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.34732, + "euclidean_distance": 5.25626, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.75933, + 0.80557, + -0.47467 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3EFE17QCRE8KX7WB0MMQUOQ0JPXSHH", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.63348, + 0.00557, + 0.91736 + ], + "start_rotation": [ + 0, + 0.84017, + 0, + 0.54232 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.42925, + "euclidean_distance": 4.19751, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.32969, + 0.00557, + -2.09768 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + [ + "39791f422b0244aa84b3d41d9b218f7e" + ], + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A3RYI5HXC2MJLN:3E47SOBEYSZ4MLIZ9IEBFVNXX3UICI", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.35697, + 0.00557, + -1.05978 + ], + "start_rotation": [ + 0, + 0.87724, + 0, + 0.48006 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 13.93549, + "euclidean_distance": 8.83663, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.97435, + 0.80557, + 3.83853 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "a59a3a61089343a8ba2834e7d3cd1066", + "0_edge_43_newN_1", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0" + ], + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753" + ], + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3OUYGIZWR91C9FANAXBBTRM8AQ4P0G", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.97786, + 0.80557, + 3.06296 + ], + "start_rotation": [ + 0, + 0.86902, + 0, + -0.49478 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.46868, + "euclidean_distance": 5.84856, + "closest_goal_object_id": 99, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.54844, + 0.80557, + 1.13006 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A38AQF5BPHJS4C:3C5W7UE9CHTEL2JLLT8QL1FOGZXMXA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.09532, + 0.121, + 2.99253 + ], + "start_rotation": [ + 0, + 0.88343, + 0, + -0.46857 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.98602, + "euclidean_distance": 8.82566, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.08599, + 0.00557, + -4.37837 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:3V0Z7YWSI03WA9AXBWOOI745UGL2V3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.23076, + 0.024, + 2.94453 + ], + "start_rotation": [ + 0, + 0.63552, + 0, + 0.77208 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.46725, + "euclidean_distance": 12.22183, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.00033, + 0.80557, + 3.86912 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "0_edge_17_newN_0", + "path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_72_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1" + ], + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3BF51CHDTXDKWYCZRK36KIKHO090H3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.7418, + 0.80557, + 3.07374 + ], + "start_rotation": [ + 0, + 0.99809, + 0, + 0.06183 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.23352, + "euclidean_distance": 3.79554, + "closest_goal_object_id": 99, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.49745, + 0.80557, + 1.07982 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A38AQF5BPHJS4C:35USIKEBNTJ7K5KPW7E0Y3R4OLC6N4", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.44977, + 0.80557, + 3.24872 + ], + "start_rotation": [ + 0, + 0.28426, + 0, + 0.95875 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 7.07509, + "euclidean_distance": 3.94921, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.52835, + 0.80557, + -0.05448 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3FFJ6VRIL3RKSTNJX2LRKULWOAWI0G", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.04838, + 0.79394, + 2.56838 + ], + "start_rotation": [ + 0, + 0.97707, + 0, + -0.2129 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.88462, + "euclidean_distance": 5.3708, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.27874, + 0.80557, + 0.3518 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "373c50dfa27649188f8e5b66c28f10a7", + "path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3Y4W8Q93L1NJDJ8D8L85EQV9RA3VD4", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.05761, + 0.80557, + 3.39621 + ], + "start_rotation": [ + 0, + 0.23591, + 0, + -0.97177 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.68315, + "euclidean_distance": 5.08963, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.47785, + 0.80557, + -0.16191 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "d2600c4cac6445a7b7f0eef51a074043", + "path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3XC1O3LBOUPNY3SGG76EWLFT3ZKTLZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.63212, + 0.80557, + 4.69871 + ], + "start_rotation": [ + 0, + 0.40907, + 0, + 0.9125 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.69461, + "euclidean_distance": 3.67234, + "closest_goal_object_id": 99, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.43518, + 0.80557, + 1.15008 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3JBT3HLQFA59B0GDERO3ZQPUSXXPZI", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.2766, + 0.11325, + 3.73017 + ], + "start_rotation": [ + 0, + 0.37017, + 0, + -0.92896 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.25512, + "euclidean_distance": 6.24977, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.72776, + 0.80557, + -0.44626 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:340UGXU9D045ULJZUGYUOQZXD7AUVJ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.1545, + 0.80557, + -0.11481 + ], + "start_rotation": [ + 0, + 0.1223, + 0, + -0.99249 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.69548, + "euclidean_distance": 1.36441, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.44992, + 0.80557, + -1.46446 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "0_edge_29_newN_0" + ] + ] + }, + { + "episode_id": "A35NXCD0VE2I69:3X87C8JFV8EXA0VEJC9K32I1BJ9SQ8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.08551, + 0.11562, + 3.44753 + ], + "start_rotation": [ + 0, + 0.38059, + 0, + -0.92474 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.84571, + "euclidean_distance": 1.61502, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.54055, + 0.09136, + 2.66304 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9096013c3596463b9c0500520d12fef1", + "path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ], + "refined_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3WT783CTPDKUZD4T38MUT8JK3IKCBO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.34492, + 0.0209, + 3.92491 + ], + "start_rotation": [ + 0, + 0.58666, + 0, + -0.80984 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 9.87817, + "euclidean_distance": 8.55671, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.7508, + 0.80557, + -0.0412 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:3QRYMNZ7F0KDM3V1SKMT9DJI7NJNTF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.77736, + 0.00557, + -1.76558 + ], + "start_rotation": [ + 0, + 0.99134, + 0, + -0.13129 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.93422, + "euclidean_distance": 2.90628, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.61618, + 0.1917, + -1.06286 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "0_edge_12_newN_0", + "path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3E4GGUZ1TAUIUYGLCSAHGYTODGM2KK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.98287, + 0.80557, + -0.06733 + ], + "start_rotation": [ + 0, + 0.94313, + 0, + 0.33243 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 20.96683, + "euclidean_distance": 11.72925, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.7145, + 0.00557, + -4.74781 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "ba19aada2e9a47839c0355085f70f7c5", + "path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:34S6N1K2ZXMXTU1LGDPPI2C5S2XHLF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.23047, + 0.00557, + -1.81267 + ], + "start_rotation": [ + 0, + 0.98075, + 0, + 0.19525 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.27607, + "euclidean_distance": 3.97057, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.91108, + 0.00557, + 1.1472 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3YWRV122CU27J9NMMNNKWCFP2CQ8UF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.56205, + 0.80557, + 5.21307 + ], + "start_rotation": [ + 0, + 0.98813, + 0, + -0.15363 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 6.3583, + "euclidean_distance": 5.76843, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.57227, + 0.80557, + -0.08716 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + [ + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f" + ], + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "ARQR5NIFA1AJ:3VHP9MDGRPNKCUG98A8QCYA5IEYCFO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.97352, + 0.18258, + 4.12387 + ], + "start_rotation": [ + 0, + 0.39104, + 0, + 0.92037 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.53052, + "euclidean_distance": 2.10366, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.58969, + 0.09944, + 2.62811 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3DHE4R9OCYEDSCK2M1P2I61V6YKG28", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.003, + 0.00557, + 0.96558 + ], + "start_rotation": [ + 0, + 0.99653, + 0, + -0.08318 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 10.45917, + "euclidean_distance": 6.64144, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.84413, + 0.00557, + -4.89746 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:32M8BPYGAVPH3XY4B4AU5M8CVT6IG8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.9484, + 0.00557, + -5.06237 + ], + "start_rotation": [ + 0, + 0.96786, + 0, + 0.2515 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.68717, + "euclidean_distance": 2.3932, + "closest_goal_object_id": 212, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.11656, + 0.00557, + -2.78908 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3KMS4QQVK4T2VSSX0NPO0HNDMIRKFI", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.79032, + 0.80557, + -0.022 + ], + "start_rotation": [ + 0, + 0.98853, + 0, + 0.15102 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.25127, + "euclidean_distance": 2.01199, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.52415, + 0.80557, + -1.44707 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "1eac2c379ebf4e059f4a35e584f82f9b", + "path": [ + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "refined_path": [ + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "0_edge_29_newN_0" + ] + ] + }, + { + "episode_id": "A272X64FOZFYLB:3LYA37P8ISQCIBGHVL3SHRWS7LCKBF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.69891, + 0.16087, + 2.44797 + ], + "start_rotation": [ + 0, + 0.30401, + 0, + 0.95267 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.22671, + "euclidean_distance": 5.55939, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.65821, + 0.20557, + -0.17393 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "0_edge_78_newN_0", + "path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3K5TEWLKGXE0LUOZ0Z9G5NBMJCPIV1", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.23382, + 0.00557, + -2.8193 + ], + "start_rotation": [ + 0, + 0.4267, + 0, + 0.90439 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.43522, + "euclidean_distance": 5.64471, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.66531, + 0.20557, + -0.88954 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A28AXX4NCWPH1F:3ZDAD0O1T3GIYX95UQ927FAG92YXTG", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.44466, + 0.80557, + -0.03518 + ], + "start_rotation": [ + 0, + 0.75507, + 0, + -0.65564 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.9068, + "euclidean_distance": 1.77678, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.46174, + 0.80557, + -1.38348 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "0_edge_29_newN_0" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:37WLF8U1WRT6CZZMZUMK6BA0USYK68", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.70941, + 0.94957, + -2.58699 + ], + "start_rotation": [ + 0, + 0.37183, + 0, + 0.9283 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 14.77135, + "euclidean_distance": 9.12804, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.70521, + 0.0874, + 3.17413 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "755d110c2ed84d76be11ad56ae00b53f", + "path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "refined_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3YDTZAI2WZJQRB9M8WNN4YUNOOE148", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.76963, + 0.00557, + -3.11456 + ], + "start_rotation": [ + 0, + 0.26782, + 0, + -0.96347 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 10.23771, + "euclidean_distance": 3.5162, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.69618, + 0.20557, + -0.94639 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1198W1SPF1R4:39GHHAVOMHUXMSPQYLTT8YQ9JBTJ4M", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.64338, + 0.80557, + 0.29906 + ], + "start_rotation": [ + 0, + 0.55904, + 0, + -0.82914 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.13302, + "euclidean_distance": 5.05469, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.07822, + 0.80557, + 3.80744 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3ZV9H2YQQFAYAG6L567PNJSB78J3WV", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.22222, + 0.80557, + -0.43582 + ], + "start_rotation": [ + 0, + 0.48121, + 0, + 0.8766 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.7795, + "euclidean_distance": 10.19124, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.56152, + 0.07663, + 3.28487 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "0_edge_33_newN_0", + "path": [ + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "refined_path": [ + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3JRJSWSMQJO4TGKUK6DJ1DLBZTME3B", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.00902, + 0.40034, + 3.66288 + ], + "start_rotation": [ + 0, + 0.49879, + 0, + -0.86672 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.96454, + "euclidean_distance": 5.30605, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.69907, + 0.80557, + -0.26826 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3CFJTT4SXVTYA4N3I160Z9VJXVR7I9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.79901, + 0.80557, + 0.08954 + ], + "start_rotation": [ + 0, + 0.99613, + 0, + 0.0879 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.11218, + "euclidean_distance": 9.4709, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.68824, + 0.09364, + 3.3029 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "ba19aada2e9a47839c0355085f70f7c5", + "path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "1eac2c379ebf4e059f4a35e584f82f9b", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_1", + "0_edge_17_newN_0" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0" + ], + "refined_path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + "0_edge_17_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3V0Z7YWSI03WA9AXBWOOI745TA32V8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.8704, + 0.06947, + 2.5797 + ], + "start_rotation": [ + 0, + 0.87999, + 0, + -0.475 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.15095, + "euclidean_distance": 5.4151, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.41485, + 0.01681, + -2.06326 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "0_edge_17_newN_1", + "path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A35CL66BEUSJ5Z:3QHK8ZVMIOLN2HYZGLFTWR97XR2LBH", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.97815, + 0.80557, + 4.74175 + ], + "start_rotation": [ + 0, + 0.72627, + 0, + -0.68741 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 14.31164, + "euclidean_distance": 12.28692, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.75971, + 0.00557, + -4.78702 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_29_newN_0", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796" + ], + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3Q8GYXHFER5SAXNK2YVHQMJSTLEC51", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.00618, + 0.00557, + -1.06299 + ], + "start_rotation": [ + 0, + 0.76908, + 0, + -0.63915 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 13.13959, + "euclidean_distance": 5.51205, + "closest_goal_object_id": 173, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.71257, + 0.00557, + -5.85944 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_12_newN_0", + "path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ], + "refined_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3QHK8ZVMIOLN2HYZGLFTWR97XOCLBL", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.29147, + 0.80557, + 2.6682 + ], + "start_rotation": [ + 0, + 0.31095, + 0, + -0.95043 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.47677, + "euclidean_distance": 2.52792, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.0019, + 0.80557, + 3.86828 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "792bca2f015c482a82fae650dd5607f5", + "path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "a59a3a61089343a8ba2834e7d3cd1066", + "0_edge_43_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1", + "755d110c2ed84d76be11ad56ae00b53f", + "1eac2c379ebf4e059f4a35e584f82f9b", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_2", + [ + "0_edge_29_newN_0" + ], + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5" + ], + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "755d110c2ed84d76be11ad56ae00b53f", + [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3VHHR074H5K005V9343DRPNBE3W7L6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.43645, + 0.80557, + -2.15873 + ], + "start_rotation": [ + 0, + 0.64851, + 0, + -0.7612 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 14.08747, + "euclidean_distance": 12.39372, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.67677, + 0.09002, + 3.26916 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "cf7dde32a96d412791ca901207e4f3dd", + "path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3BWI6RSP7ICMUZLHMIG9EUXR529E7W", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.06123, + 0.00557, + -7.06669 + ], + "start_rotation": [ + 0, + 0.89131, + 0, + 0.45339 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 2.64581, + "euclidean_distance": 2.49029, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.08248, + 0.00557, + -4.50551 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "6f8d55f24a85428894e82cb9f5f082d6", + "path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3JW0YLFXRVJV1E89FQIRSG3851GWWX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.43512, + 0.80557, + 0.53917 + ], + "start_rotation": [ + 0, + 0.85131, + 0, + 0.52467 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.17783, + "euclidean_distance": 7.78471, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.68699, + 0.0899, + 3.24772 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:31IBVUNM9U2GB3M9ZR3V2QYU2ILVF6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.35023, + 0.00557, + -4.20841 + ], + "start_rotation": [ + 0, + 0.77486, + 0, + 0.63213 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.44192, + "euclidean_distance": 1.34999, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.01724, + 0.00557, + -4.35343 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3P4RDNWND79RUZO5JAVX2Z0SOQDJIE", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.7955, + 0.80557, + -0.94281 + ], + "start_rotation": [ + 0, + 0.56875, + 0, + 0.82251 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.79858, + "euclidean_distance": 2.62605, + "closest_goal_object_id": 72, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.72591, + 0.80557, + 0.46924 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "d6d4416592a0483691a1ed7d3b336a1a", + "path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3YJ6NA41JDJJBLB9W5LHBW14A6PJPB", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.51059, + 0.80557, + 4.54863 + ], + "start_rotation": [ + 0, + 0.08591, + 0, + 0.9963 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.74022, + "euclidean_distance": 4.37167, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.8239, + 0.80557, + 0.15274 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:3J88R45B2I1K65GYD90I259JKZ7XP5", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.77954, + 0.00557, + -1.91291 + ], + "start_rotation": [ + 0, + 0.00849, + 0, + 0.99996 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.13666, + "euclidean_distance": 2.46719, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.64363, + 0.20557, + -0.06929 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3TPWUS5F8B4MNG24YZIQGMW5CE3WCE", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.4467, + 0.80557, + 4.78261 + ], + "start_rotation": [ + 0, + 0.411, + 0, + -0.91163 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.84278, + "euclidean_distance": 3.41343, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.8705, + 0.80557, + 2.28484 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3B1NLC6UG1Z9KJL8OZ0EEJ9OIDJPGM", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.50292, + 0.80557, + 5.18193 + ], + "start_rotation": [ + 0, + 0.42201, + 0, + 0.90659 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 7.58199, + "euclidean_distance": 5.49945, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.91495, + 0.80557, + 0.2338 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:33IZTU6J834HJXWQ5Q4CXAEU7H5SX3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.27493, + 0.00557, + -4.27077 + ], + "start_rotation": [ + 0, + 0.31565, + 0, + -0.94888 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.3447, + "euclidean_distance": 1.27533, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.99061, + 0.00557, + -4.26429 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3YMTUJH0DUJR0VLVAF7XA4DIHAQ4TC", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.42287, + 0.6691, + 2.06587 + ], + "start_rotation": [ + 0, + 0.72412, + 0, + -0.68968 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.99022, + "euclidean_distance": 1.87423, + "closest_goal_object_id": 138, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 6.94702, + 0.11086, + 1.42282 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "373c50dfa27649188f8e5b66c28f10a7", + "path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "refined_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3WMINLGALD6PG3Z1XUMYYXZEKVPCA8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.63275, + 0.00557, + -0.55691 + ], + "start_rotation": [ + 0, + 0.20238, + 0, + 0.97931 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 12.93264, + "euclidean_distance": 6.59201, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.98796, + 0.00557, + -4.33738 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3Z2R0DQ0JJHF8YOBG6ZEI3GJUPD2E0", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.01336, + 0.80557, + 3.96263 + ], + "start_rotation": [ + 0, + 0.80671, + 0, + -0.59094 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.5672, + "euclidean_distance": 4.14306, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.00938, + 0.80557, + 0.35794 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3BC8WZX3V5ZLLMA1H2YFIINAL57RR3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.74676, + 0.18012, + 4.49304 + ], + "start_rotation": [ + 0, + 0.99994, + 0, + -0.0106 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.57148, + "euclidean_distance": 1.57148, + "closest_goal_object_id": 123, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 5.61121, + 0.6175, + 3.58389 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3G5W44VEU9L89SOSB7V6I2NPNYRGKF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.74179, + 0.00557, + -2.11127 + ], + "start_rotation": [ + 0, + 0.01602, + 0, + 0.99987 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 13.99902, + "euclidean_distance": 5.74805, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.99484, + 0.00557, + -4.39703 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3YMTUJH0DUJR0VLVAF7XA4DIG3YT4U", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.76612, + 0.01741, + 1.9784 + ], + "start_rotation": [ + 0, + 0.44304, + 0, + -0.8965 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.43677, + "euclidean_distance": 4.95389, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.44438, + 0.00557, + -2.24685 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "0_edge_17_newN_1", + "path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3LWJHTCVCEPO6VQSDS9LW3ZMLM7QF0", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.80636, + 0.06986, + 1.45418 + ], + "start_rotation": [ + 0, + 0.26319, + 0, + 0.96474 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.4006, + "euclidean_distance": 5.91313, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.33388, + 0.00557, + -2.09675 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3TMSXRD2X8320DS6I2T6ZQDE8GH1WW", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.45335, + 0.80557, + 4.07242 + ], + "start_rotation": [ + 0, + 0.79713, + 0, + 0.6038 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.27277, + "euclidean_distance": 4.02634, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.10278, + 0.80557, + 0.19522 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "ARQR5NIFA1AJ:3634BBTX0QXBPX290K4CN180UCNIFM", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.58115, + 0.08393, + 3.97124 + ], + "start_rotation": [ + 0, + 0.98645, + 0, + -0.16409 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.74869, + "euclidean_distance": 7.8528, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.42503, + 0.00557, + -2.18918 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3LRKMWOKB7KDJTF7CTDR3DH1IRV2Z7", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.64279, + 0.13572, + 4.00406 + ], + "start_rotation": [ + 0, + 0.97289, + 0, + 0.23126 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.3585, + "euclidean_distance": 12.59192, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.03144, + 0.80557, + 3.88855 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "0_edge_17_newN_0", + "path": [ + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + [ + "39791f422b0244aa84b3d41d9b218f7e" + ], + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1ZF2GZ2ZRV8OY:3GLB5JMZFZY0VMIIJQ9JEPSZ3O1GD7", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.79578, + 0.00557, + 1.58152 + ], + "start_rotation": [ + 0, + 0.96592, + 0, + -0.25882 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.65686, + "euclidean_distance": 2.53914, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.63091, + 0.20557, + -0.15499 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3U84XHCDIEGNM7UUG7WFWSEZ25PZ4Y", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.41783, + 0.80557, + 1.78835 + ], + "start_rotation": [ + 0, + 0.82902, + 0, + 0.55921 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 21.37864, + "euclidean_distance": 15.58627, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.70058, + 0.00557, + -4.8042 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "6ab11272308c46068c9ae583da8ff311", + "path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "d6d4416592a0483691a1ed7d3b336a1a", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:36WLNQG781D9WBO7ZZSPJWJNNKXEBY", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.11593, + 0.80557, + 3.11851 + ], + "start_rotation": [ + 0, + 0.79232, + 0, + 0.61011 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.58476, + "euclidean_distance": 4.11527, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.32661, + 0.80557, + 0.12982 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + [ + "39791f422b0244aa84b3d41d9b218f7e" + ], + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A35NXCD0VE2I69:3H7XDTSHKEUZ4SI90LE96DHKBBSGWG", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.52559, + 0.80557, + 3.86623 + ], + "start_rotation": [ + 0, + 0.19739, + 0, + 0.98032 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 7.88592, + "euclidean_distance": 4.45622, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.91868, + 0.80557, + 3.9356 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "0_edge_43_newN_1", + "9e3bb94fbf7f4dc0a74911414ca95753", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1198W1SPF1R4:369J354OFFD1AD3393158JI7M04G61", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -0.00232, + 0.80557, + -0.55988 + ], + "start_rotation": [ + 0, + 0.64431, + 0, + -0.76476 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.88704, + "euclidean_distance": 2.69016, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.76961, + 0.80557, + -0.39959 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_33_newN_0", + "path": [ + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "0_edge_33_newN_0", + "0_edge_29_newN_0", + [ + "0_edge_33_newN_0" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:32VNZTT0A97EKG836Q22APC0SKC4R7", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.61797, + 0.00557, + -7.42422 + ], + "start_rotation": [ + 0, + 0.85849, + 0, + -0.51283 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.83741, + "euclidean_distance": 2.6524, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.84978, + 0.00557, + -4.97912 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "6f8d55f24a85428894e82cb9f5f082d6", + "path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3OVHNO1VE840M3DN9IX8ZW85FLLZDK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.51852, + 0.80557, + -3.08573 + ], + "start_rotation": [ + 0, + 0.55938, + 0, + -0.82891 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 7.05419, + "euclidean_distance": 6.11928, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.80097, + 0.80557, + -0.00711 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "cf7dde32a96d412791ca901207e4f3dd", + "path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3E7TUJ2EGEPLGCVA5K39M86C0G7D9P", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.55151, + 0.80557, + 2.38833 + ], + "start_rotation": [ + 0, + 0.98411, + 0, + 0.17754 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.73834, + "euclidean_distance": 2.7759, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.59239, + 0.80557, + -0.21084 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "792bca2f015c482a82fae650dd5607f5", + "path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + [ + "792bca2f015c482a82fae650dd5607f5" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A2UWH76L3L86TD:3WQ3B2KGEAJACAUVNBXACC0TYGGB19", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.97169, + 0.80557, + 4.84173 + ], + "start_rotation": [ + 0, + 0.64887, + 0, + -0.7609 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.17742, + "euclidean_distance": 15.1896, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.7363, + 0.00557, + -4.73573 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "1eac2c379ebf4e059f4a35e584f82f9b", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f" + ], + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + [ + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:3BEFOD78W8WNN0VB1I6LOQIQN5X4MK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.32431, + 0.80557, + 4.80111 + ], + "start_rotation": [ + 0, + 0.50422, + 0, + 0.86357 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 6.23289, + "euclidean_distance": 5.42825, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.66089, + 0.80557, + -0.27278 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3PWWM24LHU1YZXEK33DEQTKXJLC28W", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.76602, + 0.00557, + 2.31733 + ], + "start_rotation": [ + 0, + 0.57132, + 0, + 0.82073 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.16285, + "euclidean_distance": 3.79366, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.54452, + 0.20557, + -0.26945 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3JNQLM5FT6PTE4Y3XSMIVY633N52LG", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -0.22626, + 0.80557, + -0.29449 + ], + "start_rotation": [ + 0, + 0.41103, + 0, + 0.91162 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.85625, + "euclidean_distance": 10.56268, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.75572, + 0.0969, + 3.22316 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "0_edge_29_newN_0", + "path": [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "refined_path": [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ] + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3AZHRG4CU6N52Q50CZE4GOJ76Z330K", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.43241, + 0.00557, + -0.8773 + ], + "start_rotation": [ + 0, + 0.37716, + 0, + -0.92615 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.74667, + "euclidean_distance": 4.02065, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.76653, + 0.00557, + 1.35299 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0" + ] + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3ZR9AIQJUDCQKMO4CDJNQTBDKZN04Q", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.06063, + 0.17373, + -1.057 + ], + "start_rotation": [ + 0, + 0.58987, + 0, + 0.8075 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 4.34689, + "euclidean_distance": 4.07, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.89231, + 0.00557, + -4.92182 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "97739a403b984dcd8253741a073b18dd", + "path": [ + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A28HB7240OFGEW:3Q8GYXHFER5SAXNK2YVHQMJSTMR5C9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.31342, + 0.20557, + 1.09935 + ], + "start_rotation": [ + 0, + 0.93685, + 0, + -0.34973 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 15.25032, + "euclidean_distance": 12.60092, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.66662, + 0.80557, + -0.00134 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3C2NJ6JBKCKJ241O952X8QAS8HZ2NA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.09784, + 0.80557, + 2.33185 + ], + "start_rotation": [ + 0, + 0.40909, + 0, + 0.91249 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.44914, + "euclidean_distance": 10.87202, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.58487, + 0.08154, + 3.3156 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "d2600c4cac6445a7b7f0eef51a074043", + "path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0" + ], + "refined_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + [ + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0" + ] + }, + { + "episode_id": "A2A7O6KYJ9GS8A:3WRFBPLXRCR8NMX7D5G2R0FKETA3NT", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.87733, + 0.20557, + 0.78255 + ], + "start_rotation": [ + 0, + 0.93502, + 0, + 0.35459 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 6.3541, + "euclidean_distance": 5.84051, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.9066, + 0.00557, + -4.91572 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:36W0OB37HYHHYJIPVEGYQHN368UZHY", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.89924, + 0.80557, + 4.87081 + ], + "start_rotation": [ + 0, + 0.42129, + 0, + 0.90693 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.05925, + "euclidean_distance": 0.99279, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.22751, + 0.80557, + 4.00439 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:326O153BMK12B8MRDVJVEM7NQ59ED5", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.25443, + 0.00557, + -2.62812 + ], + "start_rotation": [ + 0, + 0.45789, + 0, + 0.88901 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 10.98103, + "euclidean_distance": 3.26393, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.3576, + 0.00557, + -2.07255 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_72_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3AAPLD8UCEKLC79QPMRG4TMMLBVTHX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.23326, + 0.80557, + 3.91824 + ], + "start_rotation": [ + 0, + 0.36123, + 0, + -0.93248 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.02909, + "euclidean_distance": 3.81234, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.01001, + 0.80557, + 0.37508 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "0_edge_72_newN_0" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "refined_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3LYA37P8ISQCIBGHVL3SHRWS7L2BKW", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.35085, + 0.00557, + -4.36515 + ], + "start_rotation": [ + 0, + 0.51775, + 0, + -0.85553 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.78117, + "euclidean_distance": 1.97825, + "closest_goal_object_id": 212, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.01178, + 0.00557, + -2.82756 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3570Y55XZRM3TXD9FMWXRA20LAMGYQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.05331, + 0.13832, + 1.84145 + ], + "start_rotation": [ + 0, + 0.86426, + 0, + -0.50304 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.923, + "euclidean_distance": 7.04529, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.22677, + 0.80557, + 0.16639 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "0_edge_78_newN_0", + "path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3SUWZRL0M0G3QZ7C38BH8GXV9N66EX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.22284, + 0.80557, + 5.19007 + ], + "start_rotation": [ + 0, + 0.99931, + 0, + -0.03704 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.17647, + "euclidean_distance": 4.88341, + "closest_goal_object_id": 138, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 7.31822, + 0.11423, + 1.41948 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3LRKMWOKB7KDJTF7CTDR3DH1ISX2ZB", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.02924, + 0.80557, + 0.97034 + ], + "start_rotation": [ + 0, + 0.22555, + 0, + 0.97423 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.72126, + "euclidean_distance": 10.99729, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.59283, + 0.08119, + 3.29485 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "6ab11272308c46068c9ae583da8ff311", + "path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "0_edge_78_newN_0", + "9e3bb94fbf7f4dc0a74911414ca95753", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0" + ], + "refined_path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0" + ], + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3ERMJ6L4D0VK6NDU3G4SR220DZ37M6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.88211, + 0.00557, + -0.42282 + ], + "start_rotation": [ + 0, + 0.65696, + 0, + -0.75392 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.76263, + "euclidean_distance": 4.45064, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.98005, + 0.00557, + -4.28317 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3T3IWE1XG8QYP08T8CEAD7END5ETQV", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.87286, + 0.80557, + 4.3962 + ], + "start_rotation": [ + 0, + 0.56388, + 0, + 0.82586 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.63216, + "euclidean_distance": 6.30183, + "closest_goal_object_id": 99, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.5321, + 0.80557, + 1.13266 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3MB8LZR5BHWOVK2TMYSMVUSXJC1KL7", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.77322, + 0.80557, + 3.37198 + ], + "start_rotation": [ + 0, + 0.68087, + 0, + -0.73241 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.24796, + "euclidean_distance": 5.54698, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.20284, + 0.80557, + 0.2627 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753" + ], + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ] + }, + { + "episode_id": "AVASQBFN6J692:3V5Q80FXIZUCY08ERMIIZCCM3XI32Z", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.12784, + 0.80557, + 4.72332 + ], + "start_rotation": [ + 0, + 0.99637, + 0, + -0.08509 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.19447, + "euclidean_distance": 4.87964, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.09661, + 0.80557, + 0.28943 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3YMTUJH0DUJR0VLVAF7XA4DIH96T4F", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.8761, + 0.14854, + 3.21708 + ], + "start_rotation": [ + 0, + 0.10075, + 0, + 0.99491 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.01547, + "euclidean_distance": 9.89634, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.6783, + 0.00557, + -4.74956 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3LRKMWOKB7KDJTF7CTDR3DH1HNVZ2V", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.3854, + 0.09696, + 3.46753 + ], + "start_rotation": [ + 0, + 0.89175, + 0, + 0.45253 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.18384, + "euclidean_distance": 4.99987, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.76267, + 0.80557, + 0.03903 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3WMINLGALD6PG3Z1XUMYYXZEKVVCAE", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.6522, + 0.16645, + 2.82117 + ], + "start_rotation": [ + 0, + 0.75244, + 0, + -0.65867 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.96845, + "euclidean_distance": 7.68212, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.98827, + 0.80557, + 3.80653 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "0_edge_43_newN_1", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796" + ], + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A16K7X677N4WN6:34BBWHLWHCED0JO4Q9ECRPU0QOEWII", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.27448, + 0.00557, + -2.18883 + ], + "start_rotation": [ + 0, + 0.60391, + 0, + 0.79705 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 14.33397, + "euclidean_distance": 6.00739, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.68485, + 0.00557, + -4.76447 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_72_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2GQH4SWIOFH2L:3NQL1CS15TBMBU344HVJRB5A9YZVY2", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.89338, + 0.00557, + -1.71382 + ], + "start_rotation": [ + 0, + 0.41725, + 0, + -0.90879 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 10.89143, + "euclidean_distance": 5.72926, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.65499, + 0.20557, + -0.87584 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_1", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1198W1SPF1R4:3SBEHTYCWP6HPOJ45AW0CMFG0PPYIF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.85184, + 0.00557, + -2.30491 + ], + "start_rotation": [ + 0, + 0.81782, + 0, + 0.57547 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.08212, + "euclidean_distance": 4.26441, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.66097, + 0.20557, + -0.1028 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3E47SOBEYSZ4MLIZ9IEBFVNXY9XICY", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.00926, + 0.00557, + -4.76783 + ], + "start_rotation": [ + 0, + 0.66463, + 0, + 0.74717 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.55769, + "euclidean_distance": 2.14396, + "closest_goal_object_id": 212, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.12435, + 0.00557, + -2.79952 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:37TD41K0AJCTGZLVEU8PJXTK75JCS0", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.6487, + 0.00557, + -4.81987 + ], + "start_rotation": [ + 0, + 0.98031, + 0, + 0.19746 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.30934, + "euclidean_distance": 2.0712, + "closest_goal_object_id": 212, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.02793, + 0.00557, + -2.78978 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3TK8OJTYM3OS2GB3DUZ0EKCY4NNPVG", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.45322, + 0.80557, + 3.62226 + ], + "start_rotation": [ + 0, + 0.30252, + 0, + 0.95314 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 7.72558, + "euclidean_distance": 4.39104, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.95798, + 0.80557, + 3.7473 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3V2XCDF45VN9X:37ZHEEHM6YPJK15KXYZDV3TUEFY37D", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.10997, + 0.00557, + -1.46706 + ], + "start_rotation": [ + 0, + 0.66326, + 0, + -0.74839 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.33994, + "euclidean_distance": 3.80887, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.96356, + 0.00557, + 1.09916 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "3362c518d40641d4b95d317186bde71b", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "0_edge_43_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39N5ACM9HGQU59Y0ATU4M2N1E2UP95", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.99048, + 0.00557, + -1.77439 + ], + "start_rotation": [ + 0, + 0.54159, + 0, + -0.84064 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.48195, + "euclidean_distance": 4.86715, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.91866, + 0.00557, + 1.03622 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ] + ] + }, + { + "episode_id": "A75XDPFNICR3T:3SKRO2GZ73UB5DYPTOA3BFJJL84K1D", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.40234, + 0.00557, + 2.68171 + ], + "start_rotation": [ + 0, + 0.12442, + 0, + -0.99223 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.77748, + "euclidean_distance": 1.59016, + "closest_goal_object_id": 241, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.52233, + 0.20557, + 1.52742 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "9096013c3596463b9c0500520d12fef1", + "path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "refined_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:32XVDSJFP10DKMGOX4NXVBLS3PPM2Q", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.53726, + 0.80557, + -0.72362 + ], + "start_rotation": [ + 0, + 0.95021, + 0, + 0.3116 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 3.16827, + "euclidean_distance": 3.00142, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.86142, + 0.80557, + 2.06129 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "0_edge_33_newN_2", + "path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:37Z929RLGBBA2GN60G3F87TOULITSM", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.94021, + 0.00557, + -4.96431 + ], + "start_rotation": [ + 0, + 0.99791, + 0, + -0.06466 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.61462, + "euclidean_distance": 2.29853, + "closest_goal_object_id": 212, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.988, + 0.00557, + -2.946 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3HMVI3QICLV6PIN6X3BUKNYUJP81YO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.63595, + 0.00557, + -2.1626 + ], + "start_rotation": [ + 0, + 0.61827, + 0, + 0.78596 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 13.75057, + "euclidean_distance": 5.07669, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.86246, + 0.00557, + -4.95653 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3L6L49WXW20PFTA59JPZ7O741A445R", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.18758, + 0.80557, + 0.17349 + ], + "start_rotation": [ + 0, + 0.81796, + 0, + -0.57528 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.82054, + "euclidean_distance": 1.64509, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.44352, + 0.80557, + -1.54894 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3SKRO2GZ73UB5DYPTOA3BFJJMDK1KL", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.99147, + 0.00581, + 3.98191 + ], + "start_rotation": [ + 0, + 0.9472, + 0, + -0.32064 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 10.53962, + "euclidean_distance": 9.11312, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.86763, + 0.00557, + -4.87805 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "800eb666021c4fd2a603dc9d89b8a50d", + "path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "0_edge_17_newN_0", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2J6S7QR4CGXTW:3VBEN272MM26XB10GG489OEZ5WLSGY", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.35394, + 0.114, + 5.1975 + ], + "start_rotation": [ + 0, + 0.85456, + 0, + 0.51935 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 10.51312, + "euclidean_distance": 7.27196, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.49877, + 0.80557, + -0.11896 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3GFK2QRXXBK1OVTPJPVI2GQVKVQW5B", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.25651, + 0.00557, + -0.3458 + ], + "start_rotation": [ + 0, + 0.8754, + 0, + 0.48339 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 12.18279, + "euclidean_distance": 8.5284, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.78629, + 0.80557, + -0.02567 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "0_edge_12_newN_0", + "path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3COPXFW7XDFEM5HREQLTCB1HOOKKPR", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.33859, + 0.02147, + 1.50348 + ], + "start_rotation": [ + 0, + 0.44908, + 0, + 0.89349 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.80761, + "euclidean_distance": 3.67217, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.6331, + 0.20557, + -0.21914 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A75XDPFNICR3T:33NF62TLXL5I0UETJDG9FFF5GTBKJX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 14.12773, + 0.20557, + 1.38638 + ], + "start_rotation": [ + 0, + 0.43817, + 0, + 0.89889 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.65002, + "euclidean_distance": 1.34462, + "closest_goal_object_id": 218, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 13.48895, + 0.20557, + 0.22783 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A2A7O6KYJ9GS8A:31QTRG6Q2VG96A68I5MKLJGSN8UYPC", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.83726, + 0.06004, + 4.21995 + ], + "start_rotation": [ + 0, + 0.68431, + 0, + -0.72919 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.66475, + "euclidean_distance": 9.51328, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.9932, + 0.00557, + -4.38686 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3U4J9857OGEONW9XCREJDMR61YIB70", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.32159, + 0.80557, + 3.55021 + ], + "start_rotation": [ + 0, + 0.30708, + 0, + -0.95168 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.825, + "euclidean_distance": 5.29627, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.24248, + 0.80557, + 0.24205 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3CP1TO84PV4FCFVI556BE9A6HX252S", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.14272, + 0.80557, + 0.32314 + ], + "start_rotation": [ + 0, + 0.98965, + 0, + -0.14353 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.13681, + "euclidean_distance": 10.02167, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.68748, + 0.09263, + 3.28873 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "4547d37b305e41bdad0de45ade6971ca", + "path": [ + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "refined_path": [ + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3Q8GYXHFER5SAXNK2YVHQMJSSDL5CK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.49085, + 0.72065, + 4.75676 + ], + "start_rotation": [ + 0, + 0.40871, + 0, + 0.91266 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.367, + "euclidean_distance": 6.96924, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.27868, + 0.80557, + 0.33693 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3WS1NTTKE0F0I2LTWUF6HX848IAF0S", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.59853, + 0.80557, + 3.20784 + ], + "start_rotation": [ + 0, + 0.63141, + 0, + -0.77545 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.06865, + "euclidean_distance": 3.84211, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.30238, + 0.80557, + 0.17381 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + [ + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A3RYI5HXC2MJLN:3IQ1VMJRYVNNI5SYLAC7W7Y6EAN9AP", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.41406, + 0.00557, + -3.17762 + ], + "start_rotation": [ + 0, + 0.3804, + 0, + 0.92482 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 10.03227, + "euclidean_distance": 5.10634, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.61203, + 0.20557, + -0.20213 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0" + ], + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3WYP994K19U1W4O339NBFJPBR0MY6H", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.47545, + 0.09659, + 4.0363 + ], + "start_rotation": [ + 0, + 0.72057, + 0, + -0.69338 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.49543, + "euclidean_distance": 6.6033, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.77866, + 0.80557, + -0.45996 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A1RC2ETLOSZGP0:3HOSI13XH1RXJ28RH08B84P2QU8DDD", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.03648, + 0.00557, + -2.78381 + ], + "start_rotation": [ + 0, + 0.54076, + 0, + 0.84118 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 14.85385, + "euclidean_distance": 5.89067, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.75583, + 0.80557, + -0.41016 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "AVASQBFN6J692:3HYA4D452TM7ECO7BHJK0L1J5KNF2D", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.07645, + 0.00557, + -0.09809 + ], + "start_rotation": [ + 0, + 0.44325, + 0, + 0.8964 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 13.51718, + "euclidean_distance": 8.10858, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.69261, + 0.00557, + -4.75801 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3F0BG9B9MRQK0428MJS3LXP7M7XY7Z", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.93195, + 0.09909, + 2.9175 + ], + "start_rotation": [ + 0, + 0.78447, + 0, + 0.62017 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.17469, + "euclidean_distance": 5.68541, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.43264, + 0.00557, + -2.20809 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3WMINLGALD6PG3Z1XUMYYXZEKVYACF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.37991, + 0.80557, + 4.73546 + ], + "start_rotation": [ + 0, + 0.99991, + 0, + -0.01366 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.7742, + "euclidean_distance": 5.45867, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.74552, + 0.80557, + -0.37994 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3OB0CAO74JSHTT8KZSEFCAE11KQYHJ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.75321, + 0.00557, + 1.0044 + ], + "start_rotation": [ + 0, + 0.35386, + 0, + 0.9353 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.55234, + "euclidean_distance": 4.01629, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.66028, + 0.20557, + -0.07116 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:369J354OFFD1AD3393158JI7NAR6GZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.58096, + 0.00557, + -2.2755 + ], + "start_rotation": [ + 0, + 0.26218, + 0, + -0.96502 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.15759, + "euclidean_distance": 9.74032, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.00079, + 0.80557, + 3.84119 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A5A14MTB35J23:3WQQ9FUS6CXSNAEGMW6PRMN1CMU8BY", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.00467, + 0.04748, + 3.75891 + ], + "start_rotation": [ + 0, + 0.9934, + 0, + 0.11468 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.36075, + "euclidean_distance": 10.03743, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.81032, + 0.00557, + -5.02133 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AD15OW944ZV20:3DHE4R9OCYEDSCK2M1P2I61V6Z0G2Q", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.93182, + 0.43105, + 5.16057 + ], + "start_rotation": [ + 0, + 0.63221, + 0, + 0.7748 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.34431, + "euclidean_distance": 6.4959, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.7283, + 0.80557, + -0.35734 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:374TNBHA8DYU6M7NII19LO62RXVQYV", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.86808, + 0.00557, + -0.32464 + ], + "start_rotation": [ + 0, + 0.7564, + 0, + 0.65411 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 10.52686, + "euclidean_distance": 5.7058, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.33785, + 0.80557, + 0.14456 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3HL8HNGX474IEW96WQYZA89XCW2F9N", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.91185, + 0.80557, + 3.99062 + ], + "start_rotation": [ + 0, + 0.06165, + 0, + -0.9981 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.47453, + "euclidean_distance": 5.73749, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.76083, + 0.80557, + -0.03291 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3NQL1CS15TBMBU344HVJRB5A9VFVYC", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.9918, + 0.82021, + 1.78661 + ], + "start_rotation": [ + 0, + 0.94762, + 0, + -0.3194 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.59422, + "euclidean_distance": 13.44446, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.72319, + 0.00557, + -4.72533 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "48a2541fc50b4a57a609698e2375e9b1", + "path": [ + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1" + ], + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3RKNTXVS3O1MLZMM4FGGFZNQTNW4AM", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.53371, + 0.00557, + 1.40539 + ], + "start_rotation": [ + 0, + 0.42698, + 0, + 0.90426 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.80086, + "euclidean_distance": 6.71043, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.94918, + 0.00557, + -4.20308 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3I0BTBYZAZO6IT2O1K7U6IFKEXR0Y9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.63653, + 0.80557, + 4.95004 + ], + "start_rotation": [ + 0, + 0.48768, + 0, + -0.87302 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 7.72635, + "euclidean_distance": 2.78376, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.95656, + 0.80557, + 3.74865 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3LEIZ60CDL2OJD06X2S6D0PFNQ2Z9E", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.37585, + 0.80557, + 4.0718 + ], + "start_rotation": [ + 0, + 0.63945, + 0, + -0.76884 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.97161, + "euclidean_distance": 6.44673, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.28554, + 0.80557, + 0.22546 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3WMINLGALD6PG3Z1XUMYYXZELZECA6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.561, + 0.00557, + -1.83985 + ], + "start_rotation": [ + 0, + 0.84494, + 0, + -0.53486 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 12.1928, + "euclidean_distance": 3.50767, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.95393, + 0.00557, + -4.37715 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A25336CH85F48V:3K9FOBBF2JMP3QNWJBK2NM91DARLN4", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.53929, + 0.80557, + 4.77457 + ], + "start_rotation": [ + 0, + 0.75884, + 0, + 0.65128 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.78127, + "euclidean_distance": 4.36722, + "closest_goal_object_id": 138, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 7.29162, + 0.11665, + 1.56341 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + [ + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3KB8R4ZV1GA7GPKY5UIDJZ4Z00QBGQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.28045, + 0.00557, + 0.56853 + ], + "start_rotation": [ + 0, + 0.17195, + 0, + 0.98511 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 9.59378, + "euclidean_distance": 6.10523, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.28307, + 0.80557, + 0.33782 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3AQF3RZ55ALVWD78YJVNQYIVMRF6FG", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.6425, + 0.08475, + 2.18826 + ], + "start_rotation": [ + 0, + 0.99434, + 0, + -0.10627 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 10.48929, + "euclidean_distance": 5.68479, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.38071, + 0.80557, + -0.11785 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "refined_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3IUZPWIU1QA46EESQCZO459DIP7WKR", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.01369, + 0.17306, + 3.89976 + ], + "start_rotation": [ + 0, + 0.45176, + 0, + 0.89214 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.30472, + "euclidean_distance": 1.92642, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.55537, + 0.08475, + 2.68629 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "A2EOOF9D135HQ1:3YJ6NA41JDJJBLB9W5LHBW14A6WJPI", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.77059, + 0.00557, + -2.74777 + ], + "start_rotation": [ + 0, + 0.12728, + 0, + -0.99187 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.09806, + "euclidean_distance": 3.77827, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.61603, + 0.20557, + -0.28838 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3A7Y0R2P2QROKUD0IWVY59N7BW5JXN", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.69338, + 0.80557, + 3.59587 + ], + "start_rotation": [ + 0, + 0.02937, + 0, + 0.99957 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.19894, + "euclidean_distance": 5.61547, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.3337, + 0.80557, + 0.16569 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A1RC2ETLOSZGP0:3KB8R4ZV1GA7GPKY5UIDJZ4Z18FGB1", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.38559, + 0.20399, + 3.32182 + ], + "start_rotation": [ + 0, + 0.43665, + 0, + -0.89963 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 9.06452, + "euclidean_distance": 5.25548, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.50592, + 0.80557, + -0.04868 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3PIWWX1FJL9NPA8B1SGXE0FS169JJZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.77146, + 0.06908, + 2.72388 + ], + "start_rotation": [ + 0, + 0.26837, + 0, + -0.96332 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 13.25335, + "euclidean_distance": 11.35023, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.76103, + 0.80557, + 0.03063 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "39791f422b0244aa84b3d41d9b218f7e", + "path": [ + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0" + ], + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3RU7GD8VPQWCAOUZJZUV3XSR6QDPSA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.05299, + 0.80557, + 3.30141 + ], + "start_rotation": [ + 0, + 0.94447, + 0, + 0.32861 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.41288, + "euclidean_distance": 3.16972, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.09397, + 0.80557, + 0.20481 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:339ANSOTR75M5JUN1VV93E053FQIKP", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.27773, + 0.80557, + -1.12403 + ], + "start_rotation": [ + 0, + 0.96452, + 0, + -0.26401 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 13.41673, + "euclidean_distance": 8.63347, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.62078, + 0.08205, + 3.25434 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "d6d4416592a0483691a1ed7d3b336a1a", + "path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "refined_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3V0Z7YWSI03WA9AXBWOOI745UH7V2K", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.95351, + 0.00557, + -1.83426 + ], + "start_rotation": [ + 0, + 0.48847, + 0, + 0.87258 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 14.1181, + "euclidean_distance": 5.13742, + "closest_goal_object_id": 162, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.66189, + 0.00557, + -6.20442 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3B3WTRP3DD5YD2XU8VJSQPF82I729F", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.42875, + 0.10418, + 2.74942 + ], + "start_rotation": [ + 0, + 0.6359, + 0, + 0.77177 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.44292, + "euclidean_distance": 5.76608, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.74266, + 0.80557, + -0.28223 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:3QXNC7EIPKYRHSUGT8FE71MT5O709L", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.01084, + 0.80557, + 2.40712 + ], + "start_rotation": [ + 0, + 0.79167, + 0, + -0.61096 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.52617, + "euclidean_distance": 3.02686, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.55716, + 0.80557, + -0.07808 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "792bca2f015c482a82fae650dd5607f5", + "path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:3WQQ9FUS6CXSNAEGMW6PRMN1DPC8BN", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.95453, + 0.80557, + 5.19576 + ], + "start_rotation": [ + 0, + 0.62461, + 0, + -0.78094 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 15.5042, + "euclidean_distance": 13.27155, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.8762, + 0.00557, + -4.5859 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A16K7X677N4WN6:33FBRBDW6Q2BXF6M0W2K26TJU8OC85", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.72017, + 0.80557, + 3.4668 + ], + "start_rotation": [ + 0, + 0.06725, + 0, + 0.99774 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.03609, + "euclidean_distance": 6.03609, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.81514, + 0.11569, + 3.3983 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3EG49X351WFCWZYTYD19W5I2PPB6XS", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.53641, + 0.80557, + -1.29502 + ], + "start_rotation": [ + 0, + 0.22838, + 0, + 0.97357 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.26419, + "euclidean_distance": 2.02783, + "closest_goal_object_id": 3, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.48758, + 1.00557, + -3.01326 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "d6d4416592a0483691a1ed7d3b336a1a", + "path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + [ + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + [ + "0_edge_33_newN_0" + ] + ] + }, + { + "episode_id": "A16K7X677N4WN6:3TDXMTX3CDXF649YZR18TVVN1HD6I8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.49682, + 0.09847, + 4.28959 + ], + "start_rotation": [ + 0, + 0.92817, + 0, + 0.37216 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 13.52049, + "euclidean_distance": 8.46729, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.92995, + 0.80557, + 3.91156 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3PJ71Z61R65ROHFYPRJEL653AGF91Z", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.29985, + 0.80557, + -2.21229 + ], + "start_rotation": [ + 0, + 0.54588, + 0, + -0.83787 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 6.298, + "euclidean_distance": 5.72355, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.93727, + 0.80557, + 0.23067 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "cf7dde32a96d412791ca901207e4f3dd", + "path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "0_edge_29_newN_0" + ], + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3ZAZR5XV03LQHB799M2XFQQNTG5ZC5", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.47547, + 0.00557, + 1.27511 + ], + "start_rotation": [ + 0, + 0.25784, + 0, + 0.96619 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.07796, + "euclidean_distance": 2.58405, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.6613, + 0.20557, + -0.10442 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3APKUC67F9IMW:33FBRBDW6Q2BXF6M0W2K26TJVA28CK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.68875, + 0.80557, + 4.89697 + ], + "start_rotation": [ + 0, + 0.97558, + 0, + -0.21965 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.02324, + "euclidean_distance": 3.66007, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.85062, + 0.80557, + 2.04913 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:31JLPPHS2WXQ57XJEKGF6PFP3YCO3F", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.46018, + 0.65667, + 2.06093 + ], + "start_rotation": [ + 0, + 0.13377, + 0, + -0.99101 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.53676, + "euclidean_distance": 6.09515, + "closest_goal_object_id": 99, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.48264, + 0.80557, + 1.14651 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "373c50dfa27649188f8e5b66c28f10a7", + "path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3DR23U6WE7H9SXIOZLJAJQP9UZ0ET8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.27549, + 0.02653, + 3.90302 + ], + "start_rotation": [ + 0, + 0.13219, + 0, + -0.99122 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 14.93771, + "euclidean_distance": 13.11532, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.72366, + 0.80557, + 0.07546 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "800eb666021c4fd2a603dc9d89b8a50d", + "path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "0_edge_17_newN_0", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + [ + "39791f422b0244aa84b3d41d9b218f7e" + ], + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "ARQR5NIFA1AJ:3P1L2B7AD3S7LBN8KQKF2B964RDLOF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.9435, + 0.00557, + -1.98849 + ], + "start_rotation": [ + 0, + 0.97762, + 0, + -0.21038 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.56929, + "euclidean_distance": 11.51091, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.97966, + 0.80557, + 3.78981 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "0_edge_75_newN_1", + [ + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3K5TEWLKGXE0LUOZ0Z9G5NBMJCMIVY", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.79764, + 0.00557, + -1.69845 + ], + "start_rotation": [ + 0, + 0.99896, + 0, + -0.04559 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.29925, + "euclidean_distance": 11.23946, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.95791, + 0.80557, + 3.73727 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "0_edge_12_newN_0", + "path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0" + ], + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TMSXRD2X8320DS6I2T6ZQDE8D5W19", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.42003, + 0.01595, + 2.62249 + ], + "start_rotation": [ + 0, + 0.26568, + 0, + -0.96406 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.60004, + "euclidean_distance": 5.68259, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.4378, + 0.00557, + -2.27563 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:3IQ1VMJRYVNNI5SYLAC7W7Y6E92A93", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.05587, + 0.01386, + -2.19977 + ], + "start_rotation": [ + 0, + 0.46349, + 0, + -0.8861 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.18185, + "euclidean_distance": 2.95198, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.75486, + 0.00557, + -4.93722 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "0_edge_43_newN_1", + "path": [ + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:36AHBNMV1TF0HD3IDWVPLPZ38MYDYD", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.10534, + 0.80557, + 5.06269 + ], + "start_rotation": [ + 0, + 0.01749, + 0, + -0.99985 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.17724, + "euclidean_distance": 6.55252, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.824, + 0.80557, + 2.2117 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3WQQ9FUS6CXSNAEGMW6PRMN1DR7B8P", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.26572, + 0.80557, + 4.51731 + ], + "start_rotation": [ + 0, + 0.99977, + 0, + 0.02141 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 7.18467, + "euclidean_distance": 4.58795, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.88546, + 0.80557, + 0.09334 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A5A14MTB35J23:3018Q3ZVOKTTM5OKFRCTNSY0KVARA9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.10839, + 0.00557, + -2.48105 + ], + "start_rotation": [ + 0, + 0.01367, + 0, + 0.99991 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.07067, + "euclidean_distance": 4.14106, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.60613, + 0.20557, + -0.16174 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:351SEKWQS2K0NWE4UT7ERUCW0HWDMA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.37133, + 0.00557, + 1.02383 + ], + "start_rotation": [ + 0, + 0.60134, + 0, + -0.79899 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.58231, + "euclidean_distance": 5.58851, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.63983, + 0.20557, + -0.93304 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:3CN4LGXD5ZRNHHKPKLUWIL5XWD9Y4Y", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.88976, + 0.00557, + -2.06128 + ], + "start_rotation": [ + 0, + 0.85387, + 0, + 0.52048 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 12.23264, + "euclidean_distance": 6.50899, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.74414, + 0.80557, + -0.02159 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:30BUDKLTXFY77V7YYP1CGAJVEYPE5W", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.69512, + 0.00557, + -3.24098 + ], + "start_rotation": [ + 0, + 0.85871, + 0, + 0.51246 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 14.35713, + "euclidean_distance": 3.37136, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.67577, + 0.00557, + -4.70291 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0" + ], + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + [ + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3FTOP5WARHRGN47PFK6RWV0W1SBJ0P", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.49436, + 0.00557, + -1.45593 + ], + "start_rotation": [ + 0, + 0.87841, + 0, + 0.47791 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.91574, + "euclidean_distance": 5.35886, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.68072, + 0.00557, + -4.70012 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "0_edge_12_newN_0", + "path": [ + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3XC1O3LBOUPNY3SGG76EWLFT3Y7TLK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.27339, + 0.0274, + 2.43692 + ], + "start_rotation": [ + 0, + 0.8052, + 0, + -0.59301 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.64162, + "euclidean_distance": 4.24061, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.69155, + 0.20557, + -0.08662 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A17OSPGV41FZ7P:3TXMY6UCAGRH3J6IMQJKOXEJPIJQCC", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.94671, + 0.00557, + -2.54076 + ], + "start_rotation": [ + 0, + 0.03463, + 0, + -0.9994 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.91354, + "euclidean_distance": 5.17422, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.64851, + 0.20557, + -0.26457 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "AY7WPVKHVNBLG:3WJ1OXY92CJN409OGI6TWB3VV6BA8C", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.60303, + 0.80557, + 0.52428 + ], + "start_rotation": [ + 0, + 0.9735, + 0, + 0.22869 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 2.42249, + "euclidean_distance": 2.18398, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.91923, + 0.80557, + 2.09398 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "4547d37b305e41bdad0de45ade6971ca", + "path": [ + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3XXU1SWE8OY5MB4LLETE3WXDC8HA07", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -0.20012, + 0.80557, + -0.13342 + ], + "start_rotation": [ + 0, + 0.97626, + 0, + -0.21662 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.70545, + "euclidean_distance": 10.48576, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.78292, + 0.10579, + 3.30779 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "4547d37b305e41bdad0de45ade6971ca", + "path": [ + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3NL0RFNU0HQSXCV8G6T59DQMXSPK41", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.23012, + 0.80557, + 0.39633 + ], + "start_rotation": [ + 0, + 0.07588, + 0, + 0.99712 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.98373, + "euclidean_distance": 1.86257, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.47265, + 0.80557, + -1.51024 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "0_edge_29_newN_0" + ] + ] + }, + { + "episode_id": "A16K7X677N4WN6:3WMINLGALD6PG3Z1XUMYYXZELYCCA2", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.60777, + 0.80557, + 2.97506 + ], + "start_rotation": [ + 0, + 0.5675, + 0, + 0.82338 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.90755, + "euclidean_distance": 2.74991, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.16258, + 0.80557, + 0.21165 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3ZWFC4W1UWAOIW5SQ7YL1T9RIFRFRN", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.62716, + 0.00557, + -1.71736 + ], + "start_rotation": [ + 0, + 0.0584, + 0, + 0.99829 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 13.04059, + "euclidean_distance": 4.43266, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.47853, + 0.80557, + -0.07169 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + [ + "04135640920a4ba2b7dc68c679c43903" + ], + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A3RYI5HXC2MJLN:3ZQIG0FLQGJIMP84PGDV6EKUYREWVL", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.44387, + 0.20288, + 3.638 + ], + "start_rotation": [ + 0, + 0.24161, + 0, + 0.97037 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.94869, + "euclidean_distance": 6.75508, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.72083, + 0.80557, + -0.04979 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:386PBUZZXH0TK0WB4DSAUFSK5WHJL6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.99813, + 0.14333, + 2.03473 + ], + "start_rotation": [ + 0, + 0.19562, + 0, + 0.98068 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.51255, + "euclidean_distance": 8.16607, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.08947, + 0.80557, + 3.80217 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "0_edge_78_newN_0", + "path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0" + ], + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3VZLGYJEYNDEK9I40IYKT3BXV03ZXM", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.64348, + 0.00557, + -2.63719 + ], + "start_rotation": [ + 0, + 0.97661, + 0, + 0.215 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 14.23989, + "euclidean_distance": 5.71137, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.62137, + 0.80557, + -0.20298 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3N8OEVH1FTTFRWQ5XI07USD0YO1OO1", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.98938, + 0.1753, + 3.98102 + ], + "start_rotation": [ + 0, + 0.96343, + 0, + 0.26795 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.38799, + "euclidean_distance": 1.99687, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.44926, + 0.1172, + 2.57538 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:3UWN2HHPU08C73IM3KH3Z8NW53XNSG", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.65991, + 0.00557, + -2.51522 + ], + "start_rotation": [ + 0, + 0.78157, + 0, + -0.62382 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.53725, + "euclidean_distance": 5.74074, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.89333, + 0.00557, + -4.9632 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3Z9WI9EOZ1RM9OJ3VDDO32ZQ31XHKF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.09537, + 0.00557, + -2.96887 + ], + "start_rotation": [ + 0, + 0.74695, + 0, + 0.66489 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 13.57458, + "euclidean_distance": 7.94756, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.69783, + 0.80557, + -0.01816 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796" + ], + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3RKNTXVS3O1MLZMM4FGGFZNQTNVA4R", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.95391, + 0.00557, + -1.036 + ], + "start_rotation": [ + 0, + 0.82, + 0, + 0.57237 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 12.37005, + "euclidean_distance": 3.60561, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.43833, + 0.80557, + -0.09876 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:3C44YUNSI3S68ZBHM9Z68Y6R4DAPD2", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.55146, + 0.00557, + -1.55405 + ], + "start_rotation": [ + 0, + 0.99999, + 0, + 0.00433 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 13.51183, + "euclidean_distance": 4.83087, + "closest_goal_object_id": 173, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.58005, + 0.00557, + -5.88714 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A2GQH4SWIOFH2L:34J10VATJH18GMSIE0F6Z0CE2NMQIX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.14864, + 0.00557, + -2.18597 + ], + "start_rotation": [ + 0, + 0.07073, + 0, + 0.9975 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 10.31592, + "euclidean_distance": 8.75025, + "closest_goal_object_id": 98, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.143, + 0.80557, + 4.96122 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3R6P78PK7ME7CBEF5G9YJTAL6AFGTG", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.17525, + 0.80557, + 3.70064 + ], + "start_rotation": [ + 0, + 0.60586, + 0, + 0.79557 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 6.8745, + "euclidean_distance": 4.23662, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.60611, + 0.80557, + -0.07497 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3G5F9DBFOR00PZDFUHRV5BA7ITRHVB", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.56144, + 0.176, + 2.79761 + ], + "start_rotation": [ + 0, + 0.01679, + 0, + -0.99986 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.15996, + "euclidean_distance": 6.87239, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.15681, + 0.80557, + 0.15996 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "0_edge_78_newN_0", + "path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ], + "refined_path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3I7DHKZYGP3ZD97UT0LIYS4VQZR5FS", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.25266, + 0.80557, + 4.55079 + ], + "start_rotation": [ + 0, + 0.96082, + 0, + -0.27719 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.40786, + "euclidean_distance": 4.67496, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.90433, + 0.80557, + 2.17366 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:34FNN24DCOC5D0OPYQD6NDBBWDLY5S", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.666, + 0.80557, + -0.45768 + ], + "start_rotation": [ + 0, + 0.9049, + 0, + -0.42563 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.64671, + "euclidean_distance": 7.97449, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.61312, + 0.08051, + 3.24524 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "d6d4416592a0483691a1ed7d3b336a1a", + "path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "refined_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0" + ], + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "AVASQBFN6J692:3I33IC7ZWH5CIL7Z01XSMKQS84Q2A3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.09834, + 0.00557, + -2.44049 + ], + "start_rotation": [ + 0, + 0.3361, + 0, + 0.94182 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 13.75427, + "euclidean_distance": 4.27908, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.49427, + 0.80557, + -0.13362 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3B837J3LDQZXM1AEWRYK8SS66XORS4", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.20361, + 0.00557, + -1.11868 + ], + "start_rotation": [ + 0, + 0.8689, + 0, + 0.49498 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 9.50672, + "euclidean_distance": 3.44349, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.37595, + 0.00557, + -2.06029 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "0_edge_12_newN_0", + "path": [ + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3EQHHY4HQUV5R93P4KR0GD47RDGG5P", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.24762, + 0.02182, + 3.0449 + ], + "start_rotation": [ + 0, + 0.62285, + 0, + -0.78234 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.76439, + "euclidean_distance": 4.01337, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.58842, + 0.20557, + -0.27159 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:33CID57106WIZMUM1S0NE8BV8QK3LK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.61434, + 0.00557, + -1.6961 + ], + "start_rotation": [ + 0, + 0.53782, + 0, + -0.84306 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 13.7825, + "euclidean_distance": 5.14537, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.74863, + 0.80557, + -0.42933 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3VZLGYJEYNDEK9I40IYKT3BXUXGXZQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.18027, + 0.80557, + 0.14834 + ], + "start_rotation": [ + 0, + 0.11166, + 0, + 0.99375 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.80617, + "euclidean_distance": 1.62102, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.47365, + 0.80557, + -1.52037 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "0_edge_29_newN_0" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3RANCT1ZVHKQL7LTPZ7UNE5QAHGBUK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.81318, + 0.91159, + -2.28372 + ], + "start_rotation": [ + 0, + 0.098, + 0, + -0.99519 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 3.13075, + "euclidean_distance": 2.72604, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.75629, + 0.80557, + 0.22291 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "755d110c2ed84d76be11ad56ae00b53f", + "path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3MH9DQ757YFMCOT45LZ8OPWNQT5GU1", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.73731, + 0.20557, + -0.5578 + ], + "start_rotation": [ + 0, + 0.13811, + 0, + -0.99042 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 18.81263, + "euclidean_distance": 14.38085, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.99231, + 0.80557, + 3.70449 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "97739a403b984dcd8253741a073b18dd", + "path": [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + [ + "97739a403b984dcd8253741a073b18dd" + ], + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3WYP994K19U1W4O339NBFJPBRWDY60", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.19612, + 0.80557, + 3.9194 + ], + "start_rotation": [ + 0, + 0.51731, + 0, + 0.8558 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.80122, + "euclidean_distance": 5.44713, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.19238, + 0.80557, + 0.3209 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3GDTJDAPVWEO61IDDLWY52YVPNBM8J", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.08, + 0.00557, + -3.05878 + ], + "start_rotation": [ + 0, + 0.27634, + 0, + -0.96106 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 15.00663, + "euclidean_distance": 3.24597, + "closest_goal_object_id": 173, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.59047, + 0.00557, + -6.01883 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "abbdc7ac89204f23a935fcb9ccae887c", + "path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_72_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3NGMS9VZTNLRF60JZCYRK4V8FQ7FFH", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.98415, + 0.80557, + 3.40429 + ], + "start_rotation": [ + 0, + 0.98802, + 0, + 0.15434 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.5399, + "euclidean_distance": 3.96129, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.91868, + 0.80557, + 2.15444 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3BC8WZX3V5ZLLMA1H2YFIINAKZ3RRM", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.97118, + 0.00557, + 2.49014 + ], + "start_rotation": [ + 0, + 0.73691, + 0, + 0.67599 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.9439, + "euclidean_distance": 3.76288, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.68963, + 0.20557, + -0.11959 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311" + ] + ] + }, + { + "episode_id": "A2UWH76L3L86TD:38SKSKU7R30XPPC5MV7AIEDKRBYLIP", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.22412, + 0.80557, + 0.38058 + ], + "start_rotation": [ + 0, + 0.64674, + 0, + 0.76271 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.97261, + "euclidean_distance": 1.84737, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.44696, + 0.80557, + -1.29593 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3FTF2T8WLTLKPIV1MF8ZEWVX7ZI9W5", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.00573, + 0.00557, + -4.48109 + ], + "start_rotation": [ + 0, + 0.22046, + 0, + 0.9754 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 23.22804, + "euclidean_distance": 16.26839, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.04114, + 0.80557, + 3.78445 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3COPXFW7XDFEM5HREQLTCB1HOQ0KPB", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.22818, + 0.80557, + 4.11621 + ], + "start_rotation": [ + 0, + 0.59709, + 0, + -0.80217 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.18279, + "euclidean_distance": 4.04797, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.65317, + 0.80557, + 0.24468 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3IXEICO794M5FIP9T30C72XWD2Z6T4", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.7251, + 0.00557, + 2.0068 + ], + "start_rotation": [ + 0, + 0.0347, + 0, + -0.9994 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.26208, + "euclidean_distance": 3.62468, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.63481, + 0.20557, + -0.22043 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3EJPLAJKEOJ11UY8ZVPUTQYDUY86Z3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.3564, + 0.80557, + 0.0004 + ], + "start_rotation": [ + 0, + 0.89211, + 0, + -0.45182 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.32489, + "euclidean_distance": 9.91714, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.70288, + 0.09128, + 3.23843 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "0_edge_33_newN_0", + "path": [ + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3FFJ6VRIL3RKSTNJX2LRKULWLII0IX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.65364, + 0.80557, + 1.89232 + ], + "start_rotation": [ + 0, + 0.52283, + 0, + 0.85244 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 1.88862, + "euclidean_distance": 1.39655, + "closest_goal_object_id": 99, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.63484, + 0.80557, + 1.2021 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "792bca2f015c482a82fae650dd5607f5", + "path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:32VNZTT0A97EKG836Q22APC0PR1R4U", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.31581, + 0.80557, + 1.99579 + ], + "start_rotation": [ + 0, + 0.86782, + 0, + 0.49688 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.27617, + "euclidean_distance": 11.12021, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.77879, + 0.10331, + 3.27752 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "6ab11272308c46068c9ae583da8ff311", + "path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "refined_path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + [ + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:37Z929RLGBBA2GN60G3F87TORR3TSG", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -0.96707, + 0.80557, + 2.86435 + ], + "start_rotation": [ + 0, + 0.32441, + 0, + 0.94592 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.93936, + "euclidean_distance": 10.71206, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.57063, + 0.07417, + 3.22935 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "d2600c4cac6445a7b7f0eef51a074043", + "path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:37TD41K0AJCTGZLVEU8PJXTK354CSH", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.54256, + 0.00557, + -6.80331 + ], + "start_rotation": [ + 0, + 0.99999, + 0, + -0.00542 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 2.94975, + "euclidean_distance": 2.31624, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.62381, + 0.00557, + -4.66538 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "6f8d55f24a85428894e82cb9f5f082d6", + "path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3A9AA95ATYPB4MWO73HNAMIZO5U5P7", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -0.83114, + 0.80557, + -2.13908 + ], + "start_rotation": [ + 0, + 0.99083, + 0, + 0.13514 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 13.91699, + "euclidean_distance": 11.84311, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.73647, + 0.0874, + 3.11384 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "cf7dde32a96d412791ca901207e4f3dd", + "path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "0_edge_75_newN_1" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1" + ], + "refined_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:37M28K1J0SGCOH577M3KL1C97J6JA6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.9403, + 0.8917, + -1.99605 + ], + "start_rotation": [ + 0, + 0.05041, + 0, + 0.99873 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 23.36108, + "euclidean_distance": 10.18017, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.68182, + 0.00557, + -4.71687 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "755d110c2ed84d76be11ad56ae00b53f", + "path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3IKZ72A5B6J33YD0X0H4S94HDKMFNJ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.69401, + 0.80557, + -0.12981 + ], + "start_rotation": [ + 0, + 0.99971, + 0, + 0.02417 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.63297, + "euclidean_distance": 8.71498, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.74674, + 0.09391, + 3.19445 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "ba19aada2e9a47839c0355085f70f7c5", + "path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0" + ], + "refined_path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3EWIJTFFVQA8COLX1JV0ZFN4TPCE03", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.77317, + 0.13383, + -1.80924 + ], + "start_rotation": [ + 0, + 0.19867, + 0, + -0.98007 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 3.30159, + "euclidean_distance": 3.1217, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.78638, + 0.00557, + -4.72435 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "abbdc7ac89204f23a935fcb9ccae887c", + "path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3TMFV4NEPAHKBDCRHN2LE00MJROW8J", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.63167, + 0.00557, + 3.62557 + ], + "start_rotation": [ + 0, + 0.58929, + 0, + -0.80792 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.87448, + "euclidean_distance": 8.46895, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.74916, + 0.00557, + -4.72372 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "800eb666021c4fd2a603dc9d89b8a50d", + "path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "0_edge_17_newN_0", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:37WLF8U1WRT6CZZMZUMK6BA0QPR6KD", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.47903, + 0.80557, + 1.9794 + ], + "start_rotation": [ + 0, + 0.92431, + 0, + -0.38164 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.38842, + "euclidean_distance": 11.28391, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.70381, + 0.08132, + 3.08306 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "6ab11272308c46068c9ae583da8ff311", + "path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3QHK8ZVMIOLN2HYZGLFTWR97TQWLB5", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.05872, + 0.02742, + 2.70433 + ], + "start_rotation": [ + 0, + 0.05447, + 0, + 0.99852 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 3.89722, + "euclidean_distance": 3.30489, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.63484, + 0.20557, + -0.21681 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "9096013c3596463b9c0500520d12fef1", + "path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1" + ], + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:34J10VATJH18GMSIE0F6Z0CEYMEQIJ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.10763, + 0.80557, + 1.81986 + ], + "start_rotation": [ + 0, + 0.98454, + 0, + 0.17514 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.50605, + "euclidean_distance": 13.35934, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.68798, + 0.00557, + -4.73989 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "792bca2f015c482a82fae650dd5607f5", + "path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "4547d37b305e41bdad0de45ade6971ca", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "4547d37b305e41bdad0de45ade6971ca", + [ + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5" + ], + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3TAYZSBPLNBGIHTTH1JJ7KKYREXS2U", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.72834, + 0.00557, + 3.74694 + ], + "start_rotation": [ + 0, + 0.12364, + 0, + 0.99233 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 10.43392, + "euclidean_distance": 9.41172, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.73873, + 0.00557, + -4.76395 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:39DD6S19JRE5E9RN5D8S5EQQATIZEW", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.80405, + 0.00557, + 1.596 + ], + "start_rotation": [ + 0, + 0.69261, + 0, + 0.72131 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.12942, + "euclidean_distance": 3.8052, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.70207, + 0.20557, + -1.00502 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3L2IS5HSFCLSMGAQSPC3E95KN45NUO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.93181, + 0.00557, + -5.69516 + ], + "start_rotation": [ + 0, + 0.64874, + 0, + 0.76101 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 20.92658, + "euclidean_distance": 12.5608, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.72517, + 0.80557, + 0.16364 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "b000c5baa76b454caa1c58c9aac585f6", + "path": [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "6f8d55f24a85428894e82cb9f5f082d6", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6" + ], + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3MRNMEIQW79GHEWJUH6ZRHX7V8BDL0", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.22638, + 0.80557, + 4.1088 + ], + "start_rotation": [ + 0, + 0.71828, + 0, + 0.69576 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 6.6862, + "euclidean_distance": 4.29775, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.62041, + 0.80557, + -0.01123 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3JBT3HLQFA59B0GDERO3ZQPUO0DZPA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.67973, + 0.80557, + 2.20066 + ], + "start_rotation": [ + 0, + 0.96725, + 0, + -0.25381 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 4.82455, + "euclidean_distance": 2.96188, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.75992, + 0.80557, + 0.07259 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "792bca2f015c482a82fae650dd5607f5", + "path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3CFJTT4SXVTYA4N3I160Z9VJSTD7IM", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.19682, + 0.80557, + 0.07733 + ], + "start_rotation": [ + 0, + 0.99881, + 0, + -0.04879 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.74303, + "euclidean_distance": 1.54851, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.48811, + 0.80557, + -1.39107 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3HHRAGRYXA8CK9MZVTHPX2IB0TW9OU", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.10621, + 0.00557, + -0.46074 + ], + "start_rotation": [ + 0, + 0.26121, + 0, + -0.96528 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 13.34807, + "euclidean_distance": 8.30316, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.93961, + 0.80557, + 3.93179 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A101U3FTZYY87V:3P1L2B7AD3S7LBN8KQKF2B960N0LOQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.24841, + 0.02967, + 3.56629 + ], + "start_rotation": [ + 0, + 0.23873, + 0, + 0.97109 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.88334, + "euclidean_distance": 5.04251, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.57081, + 0.20557, + -0.26831 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:338JKRMM282GXBAHJM0Z9OWUTNHHA5", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.05232, + 0.00557, + -2.89011 + ], + "start_rotation": [ + 0, + 0.24746, + 0, + -0.9689 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 11.20376, + "euclidean_distance": 2.53934, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.52222, + 0.10118, + -2.23965 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "abbdc7ac89204f23a935fcb9ccae887c", + "path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3DUZQ9U6SORPF8RV5B3U9PH9N96VSE", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.41044, + 0.00557, + -2.67862 + ], + "start_rotation": [ + 0, + 0.6192, + 0, + 0.78523 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 14.74429, + "euclidean_distance": 6.4221, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.58408, + 0.80557, + -0.08315 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:30BUDKLTXFY77V7YYP1CGAJV9UU5EF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.04613, + 0.80557, + 3.70145 + ], + "start_rotation": [ + 0, + 0.73476, + 0, + -0.67833 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.39816, + "euclidean_distance": 4.20403, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.61874, + 0.80557, + -0.32736 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:30BXRYBRP60D4ODKKRWRRDTLL7RWH4", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.18758, + 0.80557, + -0.02817 + ], + "start_rotation": [ + 0, + 0.99468, + 0, + -0.10304 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.68784, + "euclidean_distance": 1.44505, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.49153, + 0.80557, + -1.46245 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3YHH42UU5DIMIUVPI5I4CADO1IF0L5", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.24813, + 0.00557, + 1.35332 + ], + "start_rotation": [ + 0, + 0.37084, + 0, + -0.9287 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.84874, + "euclidean_distance": 6.17406, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.36769, + 0.80557, + 0.20765 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:33ISQZVXPRPD9IWZH8IP4SP2H08CC9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.97296, + 0.00557, + -1.54577 + ], + "start_rotation": [ + 0, + 0.58088, + 0, + -0.81399 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.88437, + "euclidean_distance": 2.92458, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.66341, + 0.20557, + -0.25636 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:33SA9F9TRZX1KEMIUQOL6AW8TRQWEF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.82056, + 0.00557, + -3.286 + ], + "start_rotation": [ + 0, + 0.99378, + 0, + 0.11139 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 18.5163, + "euclidean_distance": 11.55794, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.67071, + 0.80557, + 0.07615 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "abbdc7ac89204f23a935fcb9ccae887c", + "path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3GNA64GUZG7W4YX37GWCAR89SXHQ5B", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.08544, + 0.80557, + -2.75874 + ], + "start_rotation": [ + 0, + 0.1072, + 0, + -0.99424 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.4198, + "euclidean_distance": 4.43154, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.59667, + 0.80557, + -0.16899 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "cf7dde32a96d412791ca901207e4f3dd", + "path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3KRVW3HTZPO6PLXMRJ23MTYWWGXMSR", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.3756, + 0.00557, + -4.2175 + ], + "start_rotation": [ + 0, + 0.44236, + 0, + 0.89684 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.45475, + "euclidean_distance": 1.37527, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.14685, + 0.00557, + -4.34144 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3C5W7UE9CHTEL2JLLT8QL1FOBV1MX1", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.51961, + 0.05963, + -2.35384 + ], + "start_rotation": [ + 0, + 0.86531, + 0, + -0.50124 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 2.15229, + "euclidean_distance": 2.00945, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.88918, + 0.00557, + -4.25156 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "0_edge_43_newN_1", + "path": [ + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:35BLDD71I80MGKD903X25IECAOKVZX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.80405, + 0.00557, + 1.596 + ], + "start_rotation": [ + 0, + 0.69261, + 0, + 0.72131 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.12942, + "euclidean_distance": 3.8052, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.70207, + 0.20557, + -1.00502 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3TYCR1GOTEMJKF1FMZVWI9GAJQNLZ9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.90543, + 1.00557, + -2.95683 + ], + "start_rotation": [ + 0, + 0.46577, + 0, + -0.88491 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.66793, + "euclidean_distance": 3.12028, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.80129, + 0.80557, + -0.16211 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "755d110c2ed84d76be11ad56ae00b53f", + "path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "refined_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3COPXFW7XDFEM5HREQLTCB1HKRLKPU", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.33301, + 0.00557, + 0.49811 + ], + "start_rotation": [ + 0, + 0.00305, + 0, + -1 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.83495, + "euclidean_distance": 2.36085, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.68079, + 0.20557, + -0.09248 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3NL0RFNU0HQSXCV8G6T59DQMUWV4KW", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.68087, + 0.00557, + -1.5263 + ], + "start_rotation": [ + 0, + 0.99754, + 0, + -0.0701 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.75436, + "euclidean_distance": 2.30164, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.60147, + 0.20557, + -0.20726 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39JEC7537W498R2Z8PDUUKDR16TVCT", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.0266, + 0.00557, + -1.32577 + ], + "start_rotation": [ + 0, + 0.61412, + 0, + -0.78921 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.44092, + "euclidean_distance": 2.5764, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.71539, + 0.20557, + -0.8929 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "0_edge_12_newN_0", + "path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3HL8HNGX474IEW96WQYZA89X7ROF9U", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.70846, + 0.00557, + 1.48148 + ], + "start_rotation": [ + 0, + 0.21663, + 0, + -0.97625 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.49526, + "euclidean_distance": 3.34075, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.55565, + 0.20557, + -0.27846 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3Y5140Z9DZJNGAR3EN0HZVM4SNOIP9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.36192, + 0.80557, + 4.5922 + ], + "start_rotation": [ + 0, + 0.92156, + 0, + -0.38823 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.69143, + "euclidean_distance": 4.49554, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.07016, + 0.80557, + 0.33159 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3A7Y0R2P2QROKUD0IWVY59N7711XJ3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.07161, + 0.80557, + 4.9724 + ], + "start_rotation": [ + 0, + 0.84536, + 0, + 0.5342 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 6.73531, + "euclidean_distance": 5.20646, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.55244, + 0.80557, + -0.12148 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A23LXQ5ZX2YONR:33TIN5LC06DOENQ11GQNZTGDE3Y9Y8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.74097, + 0.00557, + 1.15668 + ], + "start_rotation": [ + 0, + 0.97959, + 0, + 0.20102 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 13.44647, + "euclidean_distance": 10.07774, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.062, + 0.80557, + 3.74095 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "fb270f4e72dd40159a4d4fc5db263fc8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A2FRVUNDQQY7S9:3E4GGUZ1TAUIUYGLCSAHGYTO9HSK26", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.1592, + 0.00557, + -2.41089 + ], + "start_rotation": [ + 0, + 0.33706, + 0, + 0.94148 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 14.23281, + "euclidean_distance": 8.76663, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.661, + 0.80557, + 0.11547 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "0_edge_72_newN_0", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:31QNSG6A5TW5LYBQ9FU9MK15PXR87Y", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.6586, + 0.08178, + 4.43522 + ], + "start_rotation": [ + 0, + 0.64572, + 0, + 0.76357 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.75336, + "euclidean_distance": 7.01101, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.78466, + 0.80557, + -0.37996 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:30IQTZXKAM9HIOCEWOLSN48B8SVX0W", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.88833, + 0.20557, + 1.5469 + ], + "start_rotation": [ + 0, + 0.95241, + 0, + -0.30482 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.49175, + "euclidean_distance": 1.40904, + "closest_goal_object_id": 218, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 13.42572, + 0.20557, + 0.25236 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "episode_id": "A3RYI5HXC2MJLN:3PPTZCWALSNUBCHSE43SZVF4UX5ZQA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.67062, + 0.00557, + -0.47685 + ], + "start_rotation": [ + 0, + 0.72984, + 0, + -0.68362 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 13.38231, + "euclidean_distance": 8.79455, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.924, + 0.80557, + 3.93588 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "a59a3a61089343a8ba2834e7d3cd1066", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3G5W44VEU9L89SOSB7V6I2NPJ0YKGQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.38328, + 0.00557, + -0.59931 + ], + "start_rotation": [ + 0, + 0.7313, + 0, + -0.68206 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.73014, + "euclidean_distance": 7.69556, + "closest_goal_object_id": 98, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.92999, + 0.80557, + 4.92512 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A74PT3GRDMEZ:3SITXWYCNXCI2BFOU4IH7L4UZVNXBB", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.97195, + 0.80557, + 4.1173 + ], + "start_rotation": [ + 0, + 0.41037, + 0, + 0.91192 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.03423, + "euclidean_distance": 5.11081, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.69099, + 0.80557, + -0.35767 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A74PT3GRDMEZ:3S06PH7KST73R7SF17OG72OTX2YD1M", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.9585, + 0.80557, + 2.72842 + ], + "start_rotation": [ + 0, + 0.67397, + 0, + -0.73876 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 3.74128, + "euclidean_distance": 1.82634, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.82476, + 0.80557, + 2.0809 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "792bca2f015c482a82fae650dd5607f5", + "path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3EQHHY4HQUV5R93P4KR0GD47MA15GO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.14014, + 0.00557, + 2.53866 + ], + "start_rotation": [ + 0, + 0.59876, + 0, + -0.80093 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.90122, + "euclidean_distance": 7.44056, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.99622, + 0.00557, + -4.25113 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3XIQGXAUMEBV0ZCYHN612JIYG67X72", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.70922, + 0.80557, + 3.72101 + ], + "start_rotation": [ + 0, + 0.81179, + 0, + 0.58395 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.44222, + "euclidean_distance": 3.81461, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.83302, + 0.80557, + 2.27803 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:37ZHEEHM6YPJK15KXYZDV3TU9BB73H", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.7188, + 0.80557, + 2.81197 + ], + "start_rotation": [ + 0, + 0.9961, + 0, + 0.08822 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.30274, + "euclidean_distance": 3.39993, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.76873, + 0.80557, + 0.12218 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3PDJHANYK7JFA9YET9JNTJU8X5ZH6P", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.96513, + 0.80557, + 3.41824 + ], + "start_rotation": [ + 0, + 0.99604, + 0, + 0.08895 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 7.60243, + "euclidean_distance": 4.3627, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.40675, + 0.80557, + -0.09714 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3AZHRG4CU6N52Q50CZE4GOJ72YA30L", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.42782, + 0.00557, + -3.7251 + ], + "start_rotation": [ + 0, + 0.34157, + 0, + -0.93986 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 21.70379, + "euclidean_distance": 14.52961, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.9648, + 0.80557, + 3.96031 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "8554983cf79243f6bfb0f6fa8950e8a5", + "path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3PPTZCWALSNUBCHSE43SZVF4TW3QZW", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.29559, + 0.80557, + 3.49674 + ], + "start_rotation": [ + 0, + 0.48941, + 0, + 0.87205 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 7.09156, + "euclidean_distance": 3.4336, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.81584, + 0.80557, + 0.05086 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3YZ8UPK3VVP9VCDZ3Z3PYYB8NZXCUY", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.02613, + 0.00557, + -6.912 + ], + "start_rotation": [ + 0, + 0.32558, + 0, + 0.94551 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.20393, + "euclidean_distance": 4.09533, + "closest_goal_object_id": 212, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.00062, + 0.00557, + -2.84432 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "6f8d55f24a85428894e82cb9f5f082d6", + "path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3QY7M81QH9PPGZDRI4RCCPAWKXL7KG", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.70015, + 0.07728, + 4.58978 + ], + "start_rotation": [ + 0, + 0.97772, + 0, + -0.2099 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 10.82621, + "euclidean_distance": 7.08445, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.57384, + 0.80557, + -0.0912 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A2FRVUNDQQY7S9:33F859I568GLGLF9P00V4ZG0C7HHBK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.72753, + 0.08709, + 4.04538 + ], + "start_rotation": [ + 0, + 0.27581, + 0, + -0.96121 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 17.25035, + "euclidean_distance": 13.67812, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.97175, + 0.80557, + 3.71636 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "800eb666021c4fd2a603dc9d89b8a50d", + "path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "0_edge_17_newN_0", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:3P59JYT76NNHXH6861O9HPGKTV5T2A", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.20203, + 0.20557, + 0.73878 + ], + "start_rotation": [ + 0, + 0.81041, + 0, + -0.58586 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 15.32166, + "euclidean_distance": 12.46398, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.6962, + 0.80557, + 0.01543 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3TXMY6UCAGRH3J6IMQJKOXEJKE6QCM", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.41597, + 0.01148, + 4.17949 + ], + "start_rotation": [ + 0, + 0.98248, + 0, + -0.18639 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.16388, + "euclidean_distance": 9.23396, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.91897, + 0.00557, + -4.18468 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3IO1LGZLKB0MHYXLQ5PHG619UMW68M", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.78741, + 0.00557, + -0.75558 + ], + "start_rotation": [ + 0, + 0.96023, + 0, + 0.2792 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 12.15003, + "euclidean_distance": 5.25411, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.84716, + 0.00557, + -5.04167 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3DEL4X4EL8OEFJ8Z4WW1FW2VK52XYP", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.87141, + 0.00557, + 0.43289 + ], + "start_rotation": [ + 0, + 0.0469, + 0, + -0.9989 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.7776, + "euclidean_distance": 6.61789, + "closest_goal_object_id": 98, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.9943, + 0.80557, + 4.96893 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3VELCLL3GMM0PR6BSDJ6V2RE9F4F1P", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.16193, + 0.00557, + -1.41397 + ], + "start_rotation": [ + 0, + 0.35425, + 0, + -0.93515 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 13.00372, + "euclidean_distance": 3.69406, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.69645, + 0.80557, + -0.35822 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3NOKK93PR3B73E0R9QUFK4P8MNVEER", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.37117, + 0.80043, + 4.96631 + ], + "start_rotation": [ + 0, + 0.6988, + 0, + -0.71531 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.32258, + "euclidean_distance": 1.23537, + "closest_goal_object_id": 123, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 4.91981, + 0.80557, + 3.97936 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + [ + "3da7e4f299e74a429ca5d336deb2a96f" + ] + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:339ANSOTR75M5JUN1VV93E05ZE2IKV", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.38194, + 0.01753, + 1.4492 + ], + "start_rotation": [ + 0, + 0.79893, + 0, + 0.60143 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.79395, + "euclidean_distance": 3.60871, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.71688, + 0.20557, + -0.12611 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:3IRIK4HM3CNOT1NY7H5MISXSKDY6C9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.8868, + 0.00557, + -1.29027 + ], + "start_rotation": [ + 0, + 0.94146, + 0, + -0.33713 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 12.7706, + "euclidean_distance": 5.14467, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.03251, + 0.00557, + -4.35052 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2FRVUNDQQY7S9:3TE22NPXPDF7JA65VE6P2W1QW99447", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.42674, + 0.20171, + 3.45554 + ], + "start_rotation": [ + 0, + 0.93913, + 0, + 0.34356 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.33146, + "euclidean_distance": 4.1596, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.78901, + 0.80557, + 0.13762 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3IQ1VMJRYVNNI5SYLAC7W7Y6ABFA9G", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.5004, + 0.2053, + 5.29682 + ], + "start_rotation": [ + 0, + 0.39709, + 0, + -0.91778 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 9.73962, + "euclidean_distance": 6.80831, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.56777, + 0.80557, + -0.06921 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3VW6495TLL33FOY99SI3YA94MAYYYW", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.39848, + 0.10694, + 2.73562 + ], + "start_rotation": [ + 0, + 0.54268, + 0, + 0.83994 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.62385, + "euclidean_distance": 7.06117, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.44355, + 0.00557, + -2.26512 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A2A7O6KYJ9GS8A:3C5W7UE9CHTEL2JLLT8QL1FOBVFXMQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.65866, + 0.20557, + -0.48192 + ], + "start_rotation": [ + 0, + 0.61858, + 0, + -0.78572 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 15.9578, + "euclidean_distance": 11.91078, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.73728, + 0.80557, + 0.07045 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "97739a403b984dcd8253741a073b18dd", + "path": [ + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd" + ], + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A74PT3GRDMEZ:39ZSFO5CAAZW3QJ5DRKBL2O3DJCJUP", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.18957, + 0.80557, + 3.14396 + ], + "start_rotation": [ + 0, + 0.78832, + 0, + 0.61527 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.44162, + "euclidean_distance": 3.53109, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.01445, + 0.80557, + 0.35676 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3AQF3RZ55ALVWD78YJVNQYIVHQXF60", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.5922, + 0.80557, + 4.39781 + ], + "start_rotation": [ + 0, + 0.95784, + 0, + -0.28731 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 7.11304, + "euclidean_distance": 4.45913, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.82173, + 0.80557, + -0.00267 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3018Q3ZVOKTTM5OKFRCTNSY0GX4RA3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.71176, + 0.03233, + 2.4504 + ], + "start_rotation": [ + 0, + 0.28782, + 0, + 0.95768 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.40805, + "euclidean_distance": 1.20861, + "closest_goal_object_id": 241, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.6427, + 0.20557, + 1.53562 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "9096013c3596463b9c0500520d12fef1", + "path": [ + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1" + ], + "refined_path": [ + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:37M28K1J0SGCOH577M3KL1C96GGJA9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.88694, + 0.80557, + 4.57551 + ], + "start_rotation": [ + 0, + 0.99895, + 0, + 0.04575 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.93221, + "euclidean_distance": 4.6495, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.03297, + 0.80557, + 0.25638 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3L4D84MIL1VRY4DLDSDC2NZDJBEJHS", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.895, + 0.00557, + 0.72418 + ], + "start_rotation": [ + 0, + 0.7018, + 0, + 0.71237 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.58929, + "euclidean_distance": 7.18419, + "closest_goal_object_id": 173, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.70096, + 0.00557, + -5.84408 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A3G5OWGKHW6OL5:3I33IC7ZWH5CIL7Z01XSMKQS56DA2Z", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.70234, + 0.00557, + -1.63891 + ], + "start_rotation": [ + 0, + 0.14658, + 0, + -0.9892 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.06299, + "euclidean_distance": 3.20308, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.69255, + 0.20557, + -0.22988 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "0_edge_12_newN_0", + "path": [ + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3KYQYYSHYXAONZZG79MRJY11QDVDOW", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.27861, + 0.00557, + 1.20761 + ], + "start_rotation": [ + 0, + 0.90361, + 0, + -0.42835 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.41164, + "euclidean_distance": 4.03838, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.76211, + 0.80557, + -0.29468 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6" + ] + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3BV8HQ2ZZY400MQ0N39VCX74KA4A62", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.64393, + 0.80557, + 3.28673 + ], + "start_rotation": [ + 0, + 0.30365, + 0, + -0.95278 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.11226, + "euclidean_distance": 5.39218, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.24535, + 0.80557, + 0.357 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A2J5DN5UMU0A3Z:317HQ483I9VNDPFQY8NPV6H9S8CNI7", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.71958, + 1.00557, + -2.90022 + ], + "start_rotation": [ + 0, + 0.21962, + 0, + 0.97559 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 3.38958, + "euclidean_distance": 3.01486, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.60852, + 0.80557, + 0.00023 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "755d110c2ed84d76be11ad56ae00b53f", + "path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "ba19aada2e9a47839c0355085f70f7c5", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3WZ36BJEV5JBLU64PUHKIIJOM0JTBA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -0.81829, + 0.80557, + 1.71437 + ], + "start_rotation": [ + 0, + 0.7102, + 0, + -0.704 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 5.21375, + "euclidean_distance": 4.9293, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.73383, + 0.80557, + 0.10858 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "6ab11272308c46068c9ae583da8ff311", + "path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3OSWBBLG1G0BH8D8809N2BSU2H9DXA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.0711, + 0.80557, + -0.00927 + ], + "start_rotation": [ + 0, + 0.56816, + 0, + -0.82292 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.80214, + "euclidean_distance": 1.48384, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.47116, + 0.80557, + -1.32816 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3EO896NRAYYH3D4GDMU1G621V6UJTQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.09196, + 0.00557, + -2.19787 + ], + "start_rotation": [ + 0, + 0.35559, + 0, + -0.93464 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.59643, + "euclidean_distance": 4.90146, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.67661, + 0.20557, + -0.15049 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3ON104KXQMZJSCPP5KC8XOKHG1ZW4A", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.38301, + 0.05968, + 1.23694 + ], + "start_rotation": [ + 0, + 0.88815, + 0, + 0.45956 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.87463, + "euclidean_distance": 6.13033, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.45594, + 0.00883, + -2.25156 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3QY7M81QH9PPGZDRI4RCCPAWKXGK7O", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.85669, + 0.92711, + 1.39902 + ], + "start_rotation": [ + 0, + 0.98691, + 0, + -0.16127 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.17962, + "euclidean_distance": 3.05486, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.02756, + 0.80557, + 3.91286 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "48a2541fc50b4a57a609698e2375e9b1", + "path": [ + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39ASUFLU6ZAG9ER84VK78TAF2TSXE5", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.95218, + 0.00557, + -1.94783 + ], + "start_rotation": [ + 0, + 0.66239, + 0, + 0.74916 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 13.91904, + "euclidean_distance": 9.42063, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.69416, + 0.80557, + -0.04413 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3I7DHKZYGP3ZD97UT0LIYS4VLU45FQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.60387, + 0.62295, + 4.00373 + ], + "start_rotation": [ + 0, + 0.71289, + 0, + 0.70127 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.17917, + "euclidean_distance": 6.59253, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.21929, + 0.80557, + 0.33516 + ] + }, + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A3PFU4042GIQLE:3PWWM24LHU1YZXEK33DEQTKWPXI28U", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.65508, + 0.00557, + -2.62593 + ], + "start_rotation": [ + 0, + 0.11332, + 0, + 0.99356 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.01772, + "euclidean_distance": 3.78037, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.66728, + 0.20557, + -0.13991 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A5A14MTB35J23:39PAAFCODO3QU84AUB8KJUDVJ6LVTQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.17534, + 0.00557, + -2.50656 + ], + "start_rotation": [ + 0, + 0.98481, + 0, + 0.17364 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.06165, + "euclidean_distance": 4.09938, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.69022, + 0.20557, + -0.18325 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ] + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3EFVCAY5L5CY5TCSAOJ6PA6DTLSJ8E", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.01576, + 0.80557, + 5.00613 + ], + "start_rotation": [ + 0, + 0.2953, + 0, + -0.9554 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 7.35403, + "euclidean_distance": 5.57534, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.87272, + 0.80557, + 0.10121 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + [ + "3da7e4f299e74a429ca5d336deb2a96f" + ], + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3DQQ64TANIO5H5B8344W0MVCYEIWPD", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.31409, + 0.00557, + -3.05369 + ], + "start_rotation": [ + 0, + 0.98832, + 0, + 0.15239 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 13.17343, + "euclidean_distance": 6.3848, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.70488, + 0.80557, + -0.03552 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3HVVDCPGTGV7Y2ZFZMV4QTHPYJ7TY6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.39291, + 0.80557, + -0.13127 + ], + "start_rotation": [ + 0, + 0.78606, + 0, + -0.61815 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.45808, + "euclidean_distance": 1.32871, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.41001, + 0.80557, + -1.40415 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3180JW2OT6FFIBTQCQC3DQWMR1PJ5M", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.09324, + 0.80557, + 4.83729 + ], + "start_rotation": [ + 0, + 0.94731, + 0, + -0.32031 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.95533, + "euclidean_distance": 6.10048, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.98868, + 0.80557, + 3.73536 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3LOTDFNYA92TQSMEP18ROSH7GE6WFF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.76085, + 0.00557, + -1.54001 + ], + "start_rotation": [ + 0, + 0.93243, + 0, + -0.36134 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 14.70529, + "euclidean_distance": 6.76108, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.76089, + 0.00557, + -4.68417 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3PS7W85Z815SX1R7RA3ORCOYPAJT9E", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 14.10898, + 0.20557, + 1.41564 + ], + "start_rotation": [ + 0, + 0.2826, + 0, + -0.95924 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.63445, + "euclidean_distance": 1.36259, + "closest_goal_object_id": 218, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 13.43826, + 0.20557, + 0.31879 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A3F0NFNLOLFJT0:3X4JMASXCOCA5L9DRSTAY7HI2NK0BA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.9393, + 0.09459, + 2.4266 + ], + "start_rotation": [ + 0, + 0.01243, + 0, + 0.99992 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 12.45132, + "euclidean_distance": 10.47176, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.7357, + 0.80557, + 0.00556 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "9096013c3596463b9c0500520d12fef1", + "path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A15T9HDPHV3X7Q:3PZDLQMM0VO0B04XKFTJSFGGI9C2CK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.56496, + 0.80557, + -0.85985 + ], + "start_rotation": [ + 0, + 0.88242, + 0, + -0.47047 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 22.2681, + "euclidean_distance": 14.80783, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.7035, + 0.00557, + -4.68467 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "0_edge_33_newN_2", + "path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3U5JL4WY5MCYHCUFFP8UZ7YO3554XT", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.66866, + 0.00557, + -0.68711 + ], + "start_rotation": [ + 0, + 0.5683, + 0, + -0.82282 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 13.83415, + "euclidean_distance": 7.28603, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.7478, + 0.00557, + -4.74476 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "d6d4416592a0483691a1ed7d3b336a1a", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39O5D9O87VVPWI0GOF7OBPL84VKC39", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.67189, + 0.00557, + -1.93961 + ], + "start_rotation": [ + 0, + 0.7158, + 0, + -0.69831 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 10.25413, + "euclidean_distance": 2.82207, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.3355, + 0.00557, + -2.11339 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:39DD6S19JRE5E9RN5D8S5EQQ13QEZU", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.24306, + 0.80557, + 0.15864 + ], + "start_rotation": [ + 0, + 0.27756, + 0, + 0.96071 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.72781, + "euclidean_distance": 2.46566, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.45357, + 0.80557, + -1.44648 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "1eac2c379ebf4e059f4a35e584f82f9b", + "path": [ + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3HHRAGRYXA8CK9MZVTHPX2IACHMO9L", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.10427, + 0.00557, + 2.44747 + ], + "start_rotation": [ + 0, + 0.97692, + 0, + -0.21361 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 9.76121, + "euclidean_distance": 8.76383, + "closest_goal_object_id": 162, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.62263, + 0.00557, + -6.19505 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "9096013c3596463b9c0500520d12fef1", + "path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:33FOTY3KEOOTMFM11BT5NW6APRK1CX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.15263, + 0.80557, + 0.24966 + ], + "start_rotation": [ + 0, + 0.97445, + 0, + -0.22461 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.90182, + "euclidean_distance": 1.72506, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.49125, + 0.80557, + -1.47179 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3C8HJ7UOP9X3QXJ0MBWBIMVZ9VCMZ1", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.54417, + 0.00557, + 2.08762 + ], + "start_rotation": [ + 0, + 0.96361, + 0, + -0.26733 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.18774, + "euclidean_distance": 8.28371, + "closest_goal_object_id": 173, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.66723, + 0.00557, + -6.0091 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_17_newN_1", + "path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3KIBXJ1WD7XW155QZQ8ENBWQLXUOKH", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.95897, + 0.80557, + 3.37691 + ], + "start_rotation": [ + 0, + 0.24068, + 0, + -0.97061 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 6.73506, + "euclidean_distance": 3.37885, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.81197, + 0.80557, + 0.0755 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:33CID57106WIZMUM1S0NE8BVVD9L3O", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.10491, + 0.80557, + 2.59584 + ], + "start_rotation": [ + 0, + 0.79557, + 0, + -0.60587 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 2.63412, + "euclidean_distance": 2.16556, + "closest_goal_object_id": 99, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.57533, + 0.80557, + 1.19937 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "792bca2f015c482a82fae650dd5607f5", + "path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + [ + "792bca2f015c482a82fae650dd5607f5" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3ATPCQ38JAD2J606TM4NVORXDYAAY1", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.02864, + 0.80052, + 2.13205 + ], + "start_rotation": [ + 0, + 0.98644, + 0, + 0.1641 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.29604, + "euclidean_distance": 4.85239, + "closest_goal_object_id": 98, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.98788, + 0.80557, + 4.93682 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "373c50dfa27649188f8e5b66c28f10a7", + "path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3LJ7UR74RJGT5IGBDJLL157P0JQN44", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.93626, + 0.42564, + 5.22269 + ], + "start_rotation": [ + 0, + 0.87136, + 0, + 0.49064 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.99354, + "euclidean_distance": 7.38306, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.91493, + 0.80557, + 2.15145 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:3FPRZHYEP0ALVR6GFW2T1H9XMBMV3S", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.26846, + 0.07265, + 3.78795 + ], + "start_rotation": [ + 0, + 0.72059, + 0, + -0.69337 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 10.02102, + "euclidean_distance": 9.2358, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.74258, + 0.00557, + -4.79336 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3PMBY0YE296BBKPW5O8Y22OU4VAC9M", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.22115, + 0.80557, + 2.89636 + ], + "start_rotation": [ + 0, + 0.87564, + 0, + -0.48296 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 13.02408, + "euclidean_distance": 10.96453, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.75744, + 0.09904, + 3.25279 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "d2600c4cac6445a7b7f0eef51a074043", + "path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "1eac2c379ebf4e059f4a35e584f82f9b", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3VELCLL3GMM0PR6BSDJ6V2RE0QJF1H", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.93582, + 0.01207, + 3.4953 + ], + "start_rotation": [ + 0, + 0.6306, + 0, + -0.77611 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.01621, + "euclidean_distance": 5.22003, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.67262, + 0.20557, + -0.86322 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3QXNC7EIPKYRHSUGT8FE71MTS8B90P", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.72075, + 0.92917, + -2.50806 + ], + "start_rotation": [ + 0, + 0.17278, + 0, + 0.98496 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 14.69194, + "euclidean_distance": 9.06755, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.73109, + 0.10047, + 3.32559 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "755d110c2ed84d76be11ad56ae00b53f", + "path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "refined_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3XC1O3LBOUPNY3SGG76EWLFTP5BLTG", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.544, + 0.80557, + 2.84909 + ], + "start_rotation": [ + 0, + 0.96273, + 0, + -0.27048 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.76673, + "euclidean_distance": 2.61536, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.1271, + 0.80557, + 0.24558 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3PH3VY7DJN0ZV9DEQD2YRKXQB7IWZI", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.10268, + 0.12721, + 3.61113 + ], + "start_rotation": [ + 0, + 0.99899, + 0, + -0.04491 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.26397, + "euclidean_distance": 9.66918, + "closest_goal_object_id": 173, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.45699, + 0.00557, + -5.89683 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:308Q0PEVBAG2ONBWXY4KD5MPDJ79IW", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.15861, + 0.12874, + 2.48459 + ], + "start_rotation": [ + 0, + 0.73214, + 0, + -0.68116 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.79106, + "euclidean_distance": 7.32482, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.21214, + 0.80557, + 0.1299 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "0_edge_78_newN_0", + "path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0" + ], + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "AOWW3URQNRJ6U:3FTYUGLFSWO2FPTY2UQSAS19MG35D3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.22591, + 0.06106, + 4.04766 + ], + "start_rotation": [ + 0, + 0.64078, + 0, + -0.76772 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 14.94644, + "euclidean_distance": 13.10981, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.75371, + 0.80557, + 0.02884 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "800eb666021c4fd2a603dc9d89b8a50d", + "path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "0_edge_17_newN_0", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3R5F3LQFV4NRQ04CZRBOAQK3RTWZOF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.67255, + 0.00557, + -2.14014 + ], + "start_rotation": [ + 0, + 0.99985, + 0, + 0.01716 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.3603, + "euclidean_distance": 2.70793, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.6287, + 0.20557, + -0.11428 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3ERMJ6L4D0VK6NDU3G4SR2200JUM73", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.51522, + 0.00557, + 1.15985 + ], + "start_rotation": [ + 0, + 0.64996, + 0, + -0.75996 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.14181, + "euclidean_distance": 10.82218, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.95639, + 0.80557, + 3.84972 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3I0BTBYZAZO6IT2O1K7U6IFK49E0YA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.45422, + 0.00557, + -1.97662 + ], + "start_rotation": [ + 0, + 0.78194, + 0, + 0.62335 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 12.33961, + "euclidean_distance": 3.49157, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.925, + 0.00557, + -4.27219 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A1WU3UZ1IJIMUI:3X3OR7WPZ1340J0SD9VJ5PJ6BSD8L1", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.96723, + 0.00557, + -2.56142 + ], + "start_rotation": [ + 0, + 0.99963, + 0, + 0.02725 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 9.56098, + "euclidean_distance": 2.24718, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.65241, + 0.20557, + -0.87561 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_72_newN_0", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_17_newN_1", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + [ + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:3A4NIXBJ782JL82W7A52A7K1V27MLI", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.53363, + 0.80557, + -1.0972 + ], + "start_rotation": [ + 0, + 0.17675, + 0, + -0.98426 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 1.61052, + "euclidean_distance": 1.22919, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.87554, + 0.80557, + 0.05375 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "d6d4416592a0483691a1ed7d3b336a1a", + "path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:30OG32W0SWEBXKD42PXYARJGB4EENL", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.72182, + 0.07652, + 1.27513 + ], + "start_rotation": [ + 0, + 0.75547, + 0, + 0.65518 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.5499, + "euclidean_distance": 5.87366, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.46292, + 0.02468, + -2.23197 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + [ + "0_edge_72_newN_0" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3DOCMVPBTPHFRQQHVO0H0EDQ5NKNNO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.56481, + 0.62626, + 2.73623 + ], + "start_rotation": [ + 0, + 0.32847, + 0, + 0.94452 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.0939, + "euclidean_distance": 5.5123, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.65797, + 0.80557, + 0.03235 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "373c50dfa27649188f8e5b66c28f10a7", + "path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "0_edge_17_newN_1", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3ITXP059PYMGODR1OMPB616FMWJJSF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.66916, + 0.80557, + 4.91885 + ], + "start_rotation": [ + 0, + 0.77918, + 0, + 0.6268 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 6.13215, + "euclidean_distance": 5.19846, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.51001, + 0.80557, + -0.11929 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A2WQT33K6LD9Z5:35USIKEBNTJ7K5KPW7E0Y3R4DRH6NA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.20802, + 0.80557, + 3.84775 + ], + "start_rotation": [ + 0, + 0.56721, + 0, + -0.82357 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.27614, + "euclidean_distance": 4.54815, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.75858, + 0.80557, + -0.29583 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + [ + "48a2541fc50b4a57a609698e2375e9b1" + ], + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f" + ], + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:3PB5A5BD0X9KEDH8SD6XEXI34QYG7R", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.53333, + 0.00557, + -3.12331 + ], + "start_rotation": [ + 0, + 0.59497, + 0, + -0.80374 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 13.64641, + "euclidean_distance": 3.71421, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.89028, + 0.00557, + -4.31289 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3G2UL9A02FHIHKS2G0XB265DWR4672", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.06821, + 0.80557, + 4.5186 + ], + "start_rotation": [ + 0, + 0.03832, + 0, + -0.99927 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 7.11825, + "euclidean_distance": 4.96697, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.60898, + 0.80557, + -0.10315 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3LYA37P8ISQCIBGHVL3SHRWSU3ZBKG", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.5711, + 0.07964, + 3.64808 + ], + "start_rotation": [ + 0, + 0.98198, + 0, + 0.18901 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.54031, + "euclidean_distance": 5.56776, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.60992, + 0.20557, + -0.21645 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3TDXMTX3CDXF649YZR18TVVNRV5I6U", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.52209, + 0.80557, + 4.46057 + ], + "start_rotation": [ + 0, + 0.15325, + 0, + -0.98819 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.5979, + "euclidean_distance": 4.43103, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.7393, + 0.80557, + 0.22553 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3OLF68YTNB4WJFJBOWCZ63KGOJ3FAZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.27861, + 0.27806, + 3.72609 + ], + "start_rotation": [ + 0, + 0.99417, + 0, + -0.10782 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 10.09494, + "euclidean_distance": 4.44879, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.7504, + 0.80557, + 0.10129 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:39KFRKBFIPYRLAU73595WJB1LZSOYD", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.70047, + 0.80756, + -1.9456 + ], + "start_rotation": [ + 0, + 0.91577, + 0, + -0.40171 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 7.89518, + "euclidean_distance": 6.85904, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.00063, + 0.80557, + 3.83626 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "755d110c2ed84d76be11ad56ae00b53f", + "path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3LYA37P8ISQCIBGHVL3SHRWRE2NBKK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.68126, + 0.80557, + 3.10206 + ], + "start_rotation": [ + 0, + 0.99048, + 0, + -0.13764 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.117, + "euclidean_distance": 4.97902, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.75488, + 0.80557, + -0.02854 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:374TNBHA8DYU6M7NII19LO61002YQN", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.38426, + 0.80557, + -1.85686 + ], + "start_rotation": [ + 0, + 0.88822, + 0, + -0.45942 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.78485, + "euclidean_distance": 1.77256, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.60527, + 0.80557, + -0.17975 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "755d110c2ed84d76be11ad56ae00b53f", + "path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "refined_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ] + }, + { + "episode_id": "AM7FYVGVOEP66:3WRFBPLXRCR8NMX7D5G2R0FK34CN3Q", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.99325, + 0.00557, + 0.49179 + ], + "start_rotation": [ + 0, + 0.03703, + 0, + -0.99931 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.73442, + "euclidean_distance": 1.74443, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.67026, + 0.20557, + -0.27016 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3F6KKYWMND465EZ46UME491VDWUNDS", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.06779, + 0.1357, + 3.70515 + ], + "start_rotation": [ + 0, + 0.48895, + 0, + -0.87231 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.81508, + "euclidean_distance": 6.51909, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.61963, + 0.20557, + -1.00356 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3Z7VU45IP0K6U8XBTPDDYU7VWQT1ZF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.1612, + 0.80557, + 0.27085 + ], + "start_rotation": [ + 0, + 0.86255, + 0, + -0.50597 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.67947, + "euclidean_distance": 2.48143, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.47605, + 0.80557, + -1.45821 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "1eac2c379ebf4e059f4a35e584f82f9b", + "path": [ + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "refined_path": [ + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "0_edge_29_newN_0" + ] + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3S3AMIZX3W8NEA2DH4D0OY7KVELCDV", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.94697, + 0.00557, + -7.51787 + ], + "start_rotation": [ + 0, + 0.78384, + 0, + -0.62096 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 3.66882, + "euclidean_distance": 2.82628, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.69858, + 0.00557, + -4.70637 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "6f8d55f24a85428894e82cb9f5f082d6", + "path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3G5W44VEU9L89SOSB7V6I2NPDGHKGZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.08369, + 0.80557, + 2.00095 + ], + "start_rotation": [ + 0, + 0.91975, + 0, + 0.39251 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.14048, + "euclidean_distance": 10.88941, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.72238, + 0.08904, + 3.16621 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "6ab11272308c46068c9ae583da8ff311", + "path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "755d110c2ed84d76be11ad56ae00b53f", + "1eac2c379ebf4e059f4a35e584f82f9b", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0" + ], + "refined_path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "48a2541fc50b4a57a609698e2375e9b1", + [ + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1" + ], + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "755d110c2ed84d76be11ad56ae00b53f", + [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0" + ] + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3EFVCAY5L5CY5TCSAOJ6PA6DR2K8JR", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.80598, + 0.80557, + 4.09169 + ], + "start_rotation": [ + 0, + 0.05222, + 0, + 0.99864 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.50404, + "euclidean_distance": 4.17191, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.10391, + 0.80557, + 0.27533 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:34X6J5FLPV14BXCOWI06B1RDL5GQJO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.45827, + 0.80557, + -0.07327 + ], + "start_rotation": [ + 0, + 0.84452, + 0, + -0.53552 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.46214, + "euclidean_distance": 1.38871, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.43818, + 0.80557, + -1.41775 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "0_edge_29_newN_0" + ] + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3PPTZCWALSNUBCHSE43SZVF4JWWZQO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.61682, + 0.00557, + 0.13985 + ], + "start_rotation": [ + 0, + 0.37961, + 0, + 0.92515 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 10.04485, + "euclidean_distance": 6.42618, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.34431, + 0.80557, + 0.12065 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3YDTZAI2WZJQRB9M8WNN4YUNE4T149", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.80643, + 0.80557, + 0.75744 + ], + "start_rotation": [ + 0, + 0.81996, + 0, + -0.57242 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 19.60817, + "euclidean_distance": 13.13856, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.75223, + 0.00557, + -4.66543 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "ba19aada2e9a47839c0355085f70f7c5", + "path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3JMSRU9HQKXO5PMD4GJPK8DTZGNVEA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.56894, + 0.00557, + -1.95858 + ], + "start_rotation": [ + 0, + 0.26555, + 0, + 0.9641 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.84101, + "euclidean_distance": 9.53395, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.04649, + 0.80557, + 3.8381 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "d6d4416592a0483691a1ed7d3b336a1a", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3A9AA95ATYPB4MWO73HNAMIYYCYP5H", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.32676, + 0.28279, + 4.45634 + ], + "start_rotation": [ + 0, + 0.61314, + 0, + 0.78997 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.77926, + "euclidean_distance": 7.57418, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.61828, + 0.20557, + -0.89987 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3L6L49WXW20PFTA59JPZ7O74QFR54E", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.22563, + 0.00557, + -1.75951 + ], + "start_rotation": [ + 0, + 0.99582, + 0, + -0.09136 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 13.27316, + "euclidean_distance": 5.0031, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.48631, + 0.80557, + -0.05792 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3B837J3LDQZXM1AEWRYK8SS6WDXSR0", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.35661, + 0.00557, + -1.17105 + ], + "start_rotation": [ + 0, + 0.79377, + 0, + -0.60822 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 9.52623, + "euclidean_distance": 3.28185, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.37336, + 0.00557, + -2.21181 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3V0Z7YWSI03WA9AXBWOOI7440V0V29", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.48485, + 0.80557, + 4.70816 + ], + "start_rotation": [ + 0, + 0.22333, + 0, + 0.97474 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.75312, + "euclidean_distance": 4.04225, + "closest_goal_object_id": 99, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.5781, + 0.80557, + 1.20921 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3EKVH9QME07AGSABKBOUCLYYJIH2DB", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.70364, + 0.07919, + 2.40367 + ], + "start_rotation": [ + 0, + 0.99618, + 0, + 0.08729 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.76942, + "euclidean_distance": 5.8199, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.76525, + 0.80557, + -0.37488 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3OB0CAO74JSHTT8KZSEFCAE07QTHYL", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.90545, + 0.80557, + 3.08745 + ], + "start_rotation": [ + 0, + 0.95538, + 0, + 0.29537 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.15605, + "euclidean_distance": 2.9236, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.0658, + 0.80557, + 0.18269 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "AZ2P6DGG5M6SH:3X65QVEQI2Q6CMQ5ULBO7BFOLNRCLU", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.50384, + 0.00645, + 1.4496 + ], + "start_rotation": [ + 0, + 0.90215, + 0, + -0.43142 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.67968, + "euclidean_distance": 3.49988, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.73487, + 0.20557, + -0.12831 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3X87C8JFV8EXA0VEJC9K32I10V3SQF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.31388, + 0.10301, + 4.16822 + ], + "start_rotation": [ + 0, + 0.55272, + 0, + -0.83337 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 13.6093, + "euclidean_distance": 10.27279, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.07734, + 0.80557, + 3.79503 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + [ + "48a2541fc50b4a57a609698e2375e9b1" + ], + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3V8LIMUUJWUTL:3KOPY89HMA5C4W6MY7OAYTY2D443JK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.18289, + 0.00557, + -1.63926 + ], + "start_rotation": [ + 0, + 0.6061, + 0, + -0.79539 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.37612, + "euclidean_distance": 3.6799, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.67305, + 0.20557, + -0.2292 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A17OSPGV41FZ7P:386PBUZZXH0TK0WB4DSAUFSJDQQJL9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.41284, + 0.00557, + -4.36552 + ], + "start_rotation": [ + 0, + 0.9223, + 0, + 0.38647 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.84711, + "euclidean_distance": 1.57557, + "closest_goal_object_id": 212, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.05559, + 0.00557, + -2.75228 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "8554983cf79243f6bfb0f6fa8950e8a5", + "path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3GDTJDAPVWEO61IDDLWY52YVB36M8W", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.30381, + 0.00557, + 2.56378 + ], + "start_rotation": [ + 0, + 0.61197, + 0, + 0.79088 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 3.62735, + "euclidean_distance": 3.07318, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.65739, + 0.20557, + -0.27265 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "9096013c3596463b9c0500520d12fef1", + "path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3RJSC4XJ12X8G5S4QI2XVLHR93250P", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.19867, + 0.03419, + 2.88134 + ], + "start_rotation": [ + 0, + 0.83971, + 0, + 0.54304 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.18085, + "euclidean_distance": 6.48919, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.6193, + 0.80557, + -0.31908 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + [ + "d6d4416592a0483691a1ed7d3b336a1a" + ] + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3PWWM24LHU1YZXEK33DEQTKXSIF828", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.72868, + 0.00557, + -1.84233 + ], + "start_rotation": [ + 0, + 0.15995, + 0, + -0.98713 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.24687, + "euclidean_distance": 3.27481, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.65125, + 0.20557, + -0.15814 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:39ZSFO5CAAZW3QJ5DRKBL2O342VUJC", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.25577, + 0.00557, + -2.6063 + ], + "start_rotation": [ + 0, + 0.98534, + 0, + -0.17059 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.48824, + "euclidean_distance": 5.21656, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.9845, + 0.00557, + 1.10651 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3MTMREQS4XLYU156ELMZAR6H2RKAWE", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -0.67059, + 0.80557, + -1.43874 + ], + "start_rotation": [ + 0, + 0.91673, + 0, + 0.39951 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 13.24742, + "euclidean_distance": 11.39781, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.72801, + 0.08546, + 3.10028 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "0_edge_33_newN_2", + "path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "0_edge_29_newN_0" + ], + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "episode_id": "A13OOAT2ORKH6V:379J5II41QJL9KAJQCHJXZFSPYJELN", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.94809, + 0.80557, + 3.69665 + ], + "start_rotation": [ + 0, + 0.52857, + 0, + -0.84889 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.70498, + "euclidean_distance": 3.52491, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.09089, + 0.80557, + 0.32929 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3PDJHANYK7JFA9YET9JNTJU8ORN6H1", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.78572, + 0.00557, + -6.54828 + ], + "start_rotation": [ + 0, + 0.51966, + 0, + 0.85437 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 2.68608, + "euclidean_distance": 1.97611, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.70744, + 0.00557, + -4.81407 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "6f8d55f24a85428894e82cb9f5f082d6", + "path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3TYCJO2DG3RMH:32Q90QCQ1UOAPES15C5IIZ2D0V1EK1", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.91048, + 0.16155, + 3.92118 + ], + "start_rotation": [ + 0, + 0.99992, + 0, + -0.01297 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.34642, + "euclidean_distance": 2.0203, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.52106, + 0.11437, + 2.57902 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "A35CL66BEUSJ5Z:3MB8LZR5BHWOVK2TMYSMVUSX9SWLKP", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.15331, + 0.30822, + 3.32441 + ], + "start_rotation": [ + 0, + 0.81676, + 0, + -0.57697 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.08591, + "euclidean_distance": 5.1522, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.68936, + 0.80557, + -0.46601 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A31BA1WLSWUSY1:3R8YZBNQ9JLBR2BMV9B98BM5X5Q7Q3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.1216, + 0.80557, + -0.65299 + ], + "start_rotation": [ + 0, + 0.85737, + 0, + 0.51471 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.66731, + "euclidean_distance": 11.52429, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.60482, + 0.0853, + 3.33511 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "0_edge_33_newN_2", + "path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:31Q0U3WYDRINAYR5AULU7AEX29017D", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.12048, + 0.20557, + 0.86672 + ], + "start_rotation": [ + 0, + 0.49263, + 0, + 0.87024 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.97608, + "euclidean_distance": 5.68951, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.70218, + 0.00557, + -4.83717 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3GLB5JMZFZY0VMIIJQ9JEPSZQ1TGDC", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.03595, + 0.16354, + 3.71017 + ], + "start_rotation": [ + 0, + 0.12096, + 0, + -0.99266 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.11653, + "euclidean_distance": 1.79504, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.46346, + 0.11369, + 2.58711 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:39ASUFLU6ZAG9ER84VK78TAFT4CXE2", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.95557, + 0.80557, + 5.28608 + ], + "start_rotation": [ + 0, + 0.92709, + 0, + 0.37485 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.42505, + "euclidean_distance": 5.65901, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.88009, + 0.80557, + 2.22933 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3IO1LGZLKB0MHYXLQ5PHG61878G68P", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.77196, + 0.80557, + -1.6984 + ], + "start_rotation": [ + 0, + 0.99995, + 0, + -0.00969 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 1.82536, + "euclidean_distance": 1.56462, + "closest_goal_object_id": 3, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.51292, + 1.00557, + -3.04121 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "d6d4416592a0483691a1ed7d3b336a1a", + "path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3AAJC4I4FIVDPPDFJEJJ2U3HSQJZJB", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.95168, + 0.00557, + -1.58886 + ], + "start_rotation": [ + 0, + 0.94067, + 0, + 0.33933 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 13.88194, + "euclidean_distance": 5.34698, + "closest_goal_object_id": 162, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.71347, + 0.00557, + -6.16967 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3M0BCWMB8XZ3DBAYKZMV52QNH4MWBZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.1256, + 0.10373, + 3.55856 + ], + "start_rotation": [ + 0, + 0.38117, + 0, + 0.9245 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 10.42907, + "euclidean_distance": 9.85517, + "closest_goal_object_id": 162, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.5926, + 0.00557, + -6.1433 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "9096013c3596463b9c0500520d12fef1", + "path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "APGX2WZ59OWDN:3Z9WI9EOZ1RM9OJ3VDDO32ZQC1AKH4", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.18157, + 0.80557, + 3.64273 + ], + "start_rotation": [ + 0, + 0.79634, + 0, + -0.60485 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 17.73878, + "euclidean_distance": 14.28945, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.71685, + 0.00557, + -4.69939 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f" + ], + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3HFNH7HEMJHUKVMNOCF3EOZXTGOQGF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.57773, + 0.00557, + 3.22146 + ], + "start_rotation": [ + 0, + 0.02739, + 0, + 0.99962 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 13.10968, + "euclidean_distance": 11.29793, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.65372, + 0.80557, + 0.01588 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "0_edge_17_newN_0", + "path": [ + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3JJVG1YBED090SVEOYZMF2D9JQEB5F", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.87177, + 0.00557, + -6.4253 + ], + "start_rotation": [ + 0, + 0.99928, + 0, + -0.03793 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 1.98641, + "euclidean_distance": 1.86743, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.09452, + 0.00557, + -4.52254 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "6f8d55f24a85428894e82cb9f5f082d6", + "path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3HOSI13XH1RXJ28RH08B84P1X4LDDF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.69706, + 0.57313, + 3.76562 + ], + "start_rotation": [ + 0, + 0.99585, + 0, + 0.09101 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 8.38293, + "euclidean_distance": 5.08093, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.56712, + 0.80557, + -0.17981 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3HFNH7HEMJHUKVMNOCF3EOZY9N6GQJ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.85005, + 0.48118, + 5.25514 + ], + "start_rotation": [ + 0, + 0.98544, + 0, + 0.17002 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.75506, + "euclidean_distance": 6.92762, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.00666, + 0.80557, + 3.73203 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + [ + "9e3bb94fbf7f4dc0a74911414ca95753" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753" + ], + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3GFK2QRXXBK1OVTPJPVI2GQVACX5WF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.9347, + 0.00557, + -5.11971 + ], + "start_rotation": [ + 0, + 0.85232, + 0, + 0.52303 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.71962, + "euclidean_distance": 2.44245, + "closest_goal_object_id": 212, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.11183, + 0.00557, + -2.77207 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "AEWGY34WUIA32:34Q075JO1ZG9SNRLPV0LSV4ATDM013", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.82248, + 0.02846, + 2.2638 + ], + "start_rotation": [ + 0, + 0.966, + 0, + 0.25856 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.16235, + "euclidean_distance": 4.72846, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.32009, + 0.00557, + -2.11289 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "9096013c3596463b9c0500520d12fef1", + "path": [ + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:36ZN444YTT15VAF2ZNN2AVHECTAIOQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.82458, + 0.00557, + 2.46724 + ], + "start_rotation": [ + 0, + 0.2276, + 0, + 0.97375 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.21461, + "euclidean_distance": 7.50515, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.91284, + 0.00557, + -4.25633 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3LEP4MGT3I3445A734H5DE11W0MDBL", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.3829, + 0.80557, + -0.12696 + ], + "start_rotation": [ + 0, + 1, + 0, + -0.00313 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 1.32611, + "euclidean_distance": 1.18891, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.25657, + 0.80557, + -0.33643 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:36W0OB37HYHHYJIPVEGYQHN3S9QHZ0", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.76672, + 0.03051, + 4.10501 + ], + "start_rotation": [ + 0, + 0.93857, + 0, + -0.34508 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.80536, + "euclidean_distance": 7.28747, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.45867, + 0.02437, + -2.21585 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + [ + "39791f422b0244aa84b3d41d9b218f7e" + ], + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3TS1AR6UQSHE0DLDHT0FWCIR21NF7V", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.57936, + 0.80557, + -0.23565 + ], + "start_rotation": [ + 0, + 0.45352, + 0, + 0.89124 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 1.54732, + "euclidean_distance": 1.35312, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.15326, + 0.80557, + -0.3498 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3OONKJ5DKEMV821WTDVLO8D1H5IBO6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.78075, + 0.80557, + 2.97958 + ], + "start_rotation": [ + 0, + 0.20765, + 0, + 0.9782 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.07503, + "euclidean_distance": 3.16941, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.04763, + 0.80557, + 0.34981 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3HWRJOOET758DX59ALEK9LTM078SE7", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.74268, + 0.55408, + 4.05987 + ], + "start_rotation": [ + 0, + 0.76031, + 0, + 0.64956 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.38244, + "euclidean_distance": 6.79676, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.8176, + 0.80557, + 2.05394 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3A4NIXBJ782JL82W7A52A7K0HBYLMA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.17891, + 0.03599, + 3.80739 + ], + "start_rotation": [ + 0, + 0.75034, + 0, + 0.66105 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 10.88661, + "euclidean_distance": 6.9664, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.458, + 0.80557, + -0.07616 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3LOZAJ85YFGOEYFSBBP66S1QZ5CX21", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.79898, + 0.80557, + 3.4943 + ], + "start_rotation": [ + 0, + 0.5025, + 0, + -0.86458 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 14.15918, + "euclidean_distance": 11.46897, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.78232, + 0.00557, + -4.71375 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3I02618YA29SP1M384PVIYAFDZBUPI", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.10203, + 0.00557, + -0.51904 + ], + "start_rotation": [ + 0, + 0.64772, + 0, + -0.76188 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.87394, + "euclidean_distance": 2.49432, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.67544, + 0.20557, + -0.21548 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "0_edge_12_newN_0", + "path": [ + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3TY7ZAOG5HNBYOD7X563XA08P8MK0P", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.31057, + 0.80557, + 4.19101 + ], + "start_rotation": [ + 0, + 0.85771, + 0, + 0.51414 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 7.16952, + "euclidean_distance": 4.74162, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.43713, + 0.80557, + -0.12504 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3YDGXNSEO1X82BT77HW2J8HUBO648C", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.88797, + 0.00557, + 0.75491 + ], + "start_rotation": [ + 0, + 0.94589, + 0, + 0.3245 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.22766, + "euclidean_distance": 5.0103, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.72559, + 0.20557, + -0.90633 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3E7TUJ2EGEPLGCVA5K39M86CMPA9DS", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.83737, + 0.00557, + -1.1451 + ], + "start_rotation": [ + 0, + 0.13192, + 0, + 0.99126 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 13.5951, + "euclidean_distance": 6.10013, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.90613, + 0.00557, + -4.2795 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "0_edge_72_newN_0", + "0_edge_78_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3BWI6RSP7ICMUZLHMIG9EUXRQ0GE7K", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.67191, + 0.58271, + 3.24153 + ], + "start_rotation": [ + 0, + 0.85346, + 0, + -0.52116 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.58124, + "euclidean_distance": 4.75618, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.69052, + 0.80557, + -0.39745 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3W2LOLRXLDIZYIX6RIPIH61VYX7KR7", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.35656, + 0.80557, + 2.92737 + ], + "start_rotation": [ + 0, + 0.94091, + 0, + 0.33865 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 4.43289, + "euclidean_distance": 3.6329, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.74257, + 0.80557, + -0.37964 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3UN61F00HYSWGZC3KVLCFHIEF18R5T", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.25502, + 0.09052, + 4.08917 + ], + "start_rotation": [ + 0, + 0.44228, + 0, + 0.89688 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.7889, + "euclidean_distance": 9.43577, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.75441, + 0.80557, + -0.03784 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "0_edge_17_newN_1", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:378XPAWRUEGGT6L1P4IK90X9NBZIAI", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.6618, + 0.00557, + 1.99246 + ], + "start_rotation": [ + 0, + 0.46118, + 0, + 0.88731 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.41347, + "euclidean_distance": 5.64642, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.40799, + 0.00557, + -2.0831 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:3MX2NQ3YCBXGDVYFTUR44Z42JAS5XP", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.88064, + 0.20557, + 1.48836 + ], + "start_rotation": [ + 0, + 0.58752, + 0, + 0.80921 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.44648, + "euclidean_distance": 1.35054, + "closest_goal_object_id": 218, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 13.39773, + 0.20557, + 0.25362 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3QIYRE09Y5KCDJJSQ12J370MMLF1NA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.04374, + 0.80557, + 3.58038 + ], + "start_rotation": [ + 0, + 0.87437, + 0, + -0.48527 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.53554, + "euclidean_distance": 2.39841, + "closest_goal_object_id": 98, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.13253, + 0.80557, + 4.88244 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:37U1UTWH9XPF3HV5ITSFR1S5KKR8RJ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.48808, + 0.7225, + 5.05221 + ], + "start_rotation": [ + 0, + 0.54809, + 0, + -0.83642 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.47318, + "euclidean_distance": 1.36233, + "closest_goal_object_id": 123, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 4.88635, + 0.80557, + 3.75803 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3K2755HG5U6UHMMN8631W4SMB52DF5", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.17373, + 0.80557, + 3.45464 + ], + "start_rotation": [ + 0, + 0.71453, + 0, + -0.6996 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.60782, + "euclidean_distance": 3.35186, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.03747, + 0.80557, + 0.27924 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ] + }, + { + "episode_id": "AK35CJJEYFVYK:3TU5ZICBRF4FRGG55E3FMBI08O78Q0", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.3406, + 0.20448, + 3.05614 + ], + "start_rotation": [ + 0, + 0.74683, + 0, + -0.66502 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.62779, + "euclidean_distance": 6.1766, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.61051, + 0.20557, + -0.29057 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3EICBYG646Z0HW25R0ZBRW2XX0IJCH", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.10228, + 0.00557, + -1.50358 + ], + "start_rotation": [ + 0, + 0.80106, + 0, + -0.59858 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.72919, + "euclidean_distance": 1.96129, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.64189, + 0.20557, + -0.1629 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3Q5C1WP23O48NUDMM16X9Q00VRN51E", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.61739, + 0.61148, + 3.0356 + ], + "start_rotation": [ + 0, + 0.15855, + 0, + -0.98735 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 8.25732, + "euclidean_distance": 4.47613, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.40153, + 0.80557, + -0.14144 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "373c50dfa27649188f8e5b66c28f10a7", + "path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3DUZQ9U6SORPF8RV5B3U9PH9HPSVSQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.21223, + 0.00557, + -1.97621 + ], + "start_rotation": [ + 0, + 0.06119, + 0, + 0.99813 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.35109, + "euclidean_distance": 4.10516, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.99902, + 0.00557, + 1.09695 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3U5NZHP4LT5NKFGJ85IWZJLO5ZQHPL", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.63489, + 0.60862, + 3.41672 + ], + "start_rotation": [ + 0, + 0.95449, + 0, + -0.29825 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 8.27443, + "euclidean_distance": 4.7709, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.57568, + 0.80557, + -0.17696 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3DQQ64TANIO5H5B8344W0MVCXY8WP6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.78575, + 0.00557, + -1.51036 + ], + "start_rotation": [ + 0, + 0.99366, + 0, + -0.11239 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 11.70149, + "euclidean_distance": 6.80553, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.28754, + 0.80557, + 0.1498 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + [ + "39791f422b0244aa84b3d41d9b218f7e" + ], + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A75XDPFNICR3T:373ERPL3YQBY11NTLR3AIXOSY09TRW", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.33046, + 0.19522, + 2.01458 + ], + "start_rotation": [ + 0, + 0.2153, + 0, + 0.97655 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.20266, + "euclidean_distance": 5.93671, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.66025, + 0.80557, + 0.04238 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "0_edge_78_newN_0", + "path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3MRNMEIQW79GHEWJUH6ZRHX7MOALDU", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.52694, + 0.84738, + -2.40002 + ], + "start_rotation": [ + 0, + 0.8876, + 0, + 0.46061 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 2.90826, + "euclidean_distance": 2.42254, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.86385, + 0.80557, + -0.00782 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "755d110c2ed84d76be11ad56ae00b53f", + "path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3RRCEFRB7OFR49REATGCAA7W0FFB4V", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.39969, + 0.80557, + 3.84122 + ], + "start_rotation": [ + 0, + 0.20641, + 0, + 0.97847 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 13.98232, + "euclidean_distance": 11.1569, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.64605, + 0.086, + 3.26643 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "d2600c4cac6445a7b7f0eef51a074043", + "path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "refined_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "3182b6eba9ce405f9e1c0af86cc6b862", + [ + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e" + ] + ] + }, + { + "episode_id": "A75XDPFNICR3T:37FMASSAYEULCGQTVIIG4BHF5XKIBL", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.53063, + 0.00557, + -1.25681 + ], + "start_rotation": [ + 0, + 0.9313, + 0, + 0.36425 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 13.13296, + "euclidean_distance": 8.88537, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.74041, + 0.80557, + 0.13046 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3AMYWKA6YDPP2QK1XMEDDSR90266O8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.4521, + 0.19114, + 2.98796 + ], + "start_rotation": [ + 0, + 0.04329, + 0, + 0.99906 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 10.28462, + "euclidean_distance": 3.99732, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.60644, + 0.80557, + 0.01544 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3HVVDCPGTGV7Y2ZFZMV4QTHOK2XYTN", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.85488, + 0.80557, + 3.69911 + ], + "start_rotation": [ + 0, + 0.88864, + 0, + 0.45861 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 6.05367, + "euclidean_distance": 4.60827, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.86017, + 0.80557, + 0.1945 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3ZAZR5XV03LQHB799M2XFQQNJVPCZM", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.12598, + 0.80557, + 3.01752 + ], + "start_rotation": [ + 0, + 0.8015, + 0, + -0.59799 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.40008, + "euclidean_distance": 2.92249, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.1214, + 0.80557, + 0.28572 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ], + "refined_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0" + ], + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ] + }, + { + "episode_id": "A3PFU4042GIQLE:3G0WWMR1UXN0UN39BGSY488UUYVNQH", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.7215, + 0.80828, + 1.8045 + ], + "start_rotation": [ + 0, + 0.71873, + 0, + 0.69528 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.50329, + "euclidean_distance": 2.64767, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.9523, + 0.80557, + 3.76598 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "48a2541fc50b4a57a609698e2375e9b1", + "path": [ + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_17_newN_1", + "373c50dfa27649188f8e5b66c28f10a7", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753" + ], + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1" + ], + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + [ + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3VW6495TLL33FOY99SI3YA93XGWYYF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.6033, + 0.0326, + 2.526 + ], + "start_rotation": [ + 0, + 0.03082, + 0, + 0.99952 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 10.2644, + "euclidean_distance": 8.94584, + "closest_goal_object_id": 162, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.61124, + 0.00557, + -6.21532 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "0_edge_17_newN_1", + "path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3U4J9857OGEONW9XCREJDMR6ODY7BT", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.34555, + 0.80557, + 0.06218 + ], + "start_rotation": [ + 0, + 0.94357, + 0, + -0.33116 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.63675, + "euclidean_distance": 1.52259, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.45312, + 0.80557, + -1.49641 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3TOK3KHVJVL86QY6GWJ5J6R5YCQ7O9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.00384, + 0.14702, + 3.51761 + ], + "start_rotation": [ + 0, + 0.08378, + 0, + -0.99648 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.94021, + "euclidean_distance": 1.72097, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.44272, + 0.09625, + 2.65424 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:38JBBYETQQDPBC3YKKI2BIDH39RE4R", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.33387, + 0.80557, + 5.24609 + ], + "start_rotation": [ + 0, + 0.05902, + 0, + -0.99826 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.89536, + "euclidean_distance": 5.18257, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.79925, + 0.80557, + 0.07356 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3LS2AMNW5HTIC83LCVSBJX8036UOQ8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.0367, + 0.04892, + 1.87389 + ], + "start_rotation": [ + 0, + 0.23403, + 0, + -0.97223 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.95396, + "euclidean_distance": 4.11305, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.63673, + 0.20557, + -0.22426 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A2CUAZD7OJDFYR:3XM0HYN6NM2B05PHI4AQEGOBB5XPEI", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.95397, + 0.00557, + 1.08198 + ], + "start_rotation": [ + 0, + 0.9805, + 0, + 0.19653 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 10.33308, + "euclidean_distance": 6.76767, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.86208, + 0.00557, + -4.87739 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3MAOD8E57SDK3K4LXUNQYG4O72RXNH", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.82253, + 0.06405, + 4.68572 + ], + "start_rotation": [ + 0, + 0.72301, + 0, + -0.69084 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.82358, + "euclidean_distance": 6.18262, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.63467, + 0.20557, + -0.18834 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:320DUZ38G9PDY8IATMVUHNNBH9ZGJV", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.33122, + 0.80557, + 5.01292 + ], + "start_rotation": [ + 0, + 0.73594, + 0, + -0.67705 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.48911, + "euclidean_distance": 6.1958, + "closest_goal_object_id": 99, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.64497, + 0.80557, + 1.19497 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e" + ], + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + [ + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3C5W7UE9CHTEL2JLLT8QL1FO596MXS", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.7535, + 0.00557, + -0.24349 + ], + "start_rotation": [ + 0, + 0.98301, + 0, + -0.18353 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.08018, + "euclidean_distance": 11.4778, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.98407, + 0.80557, + 3.91066 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "0_edge_12_newN_0", + "path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:37WLF8U1WRT6CZZMZUMK6BA0G2MK62", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.25563, + 0.00557, + -2.05515 + ], + "start_rotation": [ + 0, + 0.09086, + 0, + 0.99586 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 13.05297, + "euclidean_distance": 7.80482, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.71993, + 0.80557, + 0.12389 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3PW9OPU9PSNGOXUZ4I4ZBJXPQB812Q", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.30211, + 0.20557, + -0.5183 + ], + "start_rotation": [ + 0, + 0.8102, + 0, + 0.58615 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 1.81878, + "euclidean_distance": 1.65959, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.44527, + 0.00557, + -2.26688 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "97739a403b984dcd8253741a073b18dd", + "path": [ + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3Q5C1WP23O48NUDMM16X9Q01EWG15Y", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.67994, + 0.18386, + 4.0473 + ], + "start_rotation": [ + 0, + 0.10731, + 0, + -0.99423 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.29603, + "euclidean_distance": 7.03423, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.60363, + 0.20557, + -1.04562 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A3LA5P3N3KI8U7:3CFJTT4SXVTYA4N3I160Z9VI5RU7IA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.61818, + 0.00557, + -4.34836 + ], + "start_rotation": [ + 0, + 0.64032, + 0, + 0.7681 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.04522, + "euclidean_distance": 1.61018, + "closest_goal_object_id": 212, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.08142, + 0.00557, + -2.80371 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "8554983cf79243f6bfb0f6fa8950e8a5", + "path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3FPRZHYEP0ALVR6GFW2T1H9W8SF3VB", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.93954, + 0.00557, + -0.93612 + ], + "start_rotation": [ + 0, + 0.99782, + 0, + -0.06594 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 13.83819, + "euclidean_distance": 8.42445, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.9487, + 0.80557, + 3.84065 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "b000c5baa76b454caa1c58c9aac585f6", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3F0NFNLOLFJT0:3TU5ZICBRF4FRGG55E3FMBIZ7FCQ82", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.50279, + 0.80557, + -0.04552 + ], + "start_rotation": [ + 0, + 0.48967, + 0, + 0.87191 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.96289, + "euclidean_distance": 1.804, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.36731, + 0.80557, + -1.48928 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "0_edge_29_newN_0" + ] + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3ZSANO2JCHA0JB555WYQR3ENQWRSFL", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.3845, + 0.80557, + -0.13752 + ], + "start_rotation": [ + 0, + 0.18366, + 0, + 0.98299 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.97772, + "euclidean_distance": 5.20366, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.90555, + 0.80557, + 3.8961 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3SB4CE2TJXYDJ1AWOQILCAKOBVAAXV", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.26008, + 0.80557, + 1.09768 + ], + "start_rotation": [ + 0, + 0.49301, + 0, + -0.87002 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.93269, + "euclidean_distance": 11.19834, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.69443, + 0.09063, + 3.24456 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "6ab11272308c46068c9ae583da8ff311", + "path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "1eac2c379ebf4e059f4a35e584f82f9b", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "refined_path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3GNA64GUZG7W4YX37GWCAR885JR5QJ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.03485, + 0.0122, + 1.05273 + ], + "start_rotation": [ + 0, + 0.65462, + 0, + -0.75595 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.38034, + "euclidean_distance": 5.49006, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.46876, + 0.03431, + -2.2264 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3B1NLC6UG1Z9KJL8OZ0EEJ9NQY2PGH", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.73327, + 0.80557, + 3.37645 + ], + "start_rotation": [ + 0, + 0.0211, + 0, + 0.99978 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.67622, + "euclidean_distance": 3.83039, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.66864, + 0.80557, + -0.29374 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3X87C8JFV8EXA0VEJC9K32I0JANQS8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.73326, + 0.80557, + 4.0627 + ], + "start_rotation": [ + 0, + 0.72999, + 0, + -0.68345 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.74371, + "euclidean_distance": 3.93367, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.88012, + 0.80557, + 0.19917 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:36TFCYNS46DSTOIAUWSDTW7SOJOHXN", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.93944, + 0.15182, + 3.71555 + ], + "start_rotation": [ + 0, + 0.03192, + 0, + 0.99949 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.14341, + "euclidean_distance": 1.87777, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.55949, + 0.08711, + 2.67706 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3P59JYT76NNHXH6861O9HPGKJ5B2TZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.59175, + 0.00557, + 1.45831 + ], + "start_rotation": [ + 0, + 0.45003, + 0, + -0.89302 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.38227, + "euclidean_distance": 3.87351, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.62366, + 0.20557, + -0.98492 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A75XDPFNICR3T:36PW28KO41Z4D1JFTLSTOLZHSJ0EAC", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.92553, + 0.80557, + 4.78251 + ], + "start_rotation": [ + 0, + 0.19518, + 0, + -0.98077 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.76092, + "euclidean_distance": 3.09675, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.88996, + 0.80557, + 2.15524 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:31Z0PCVWUMIOJI3ECD54DGXSHB7T7J", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.71897, + 0.00557, + -3.01935 + ], + "start_rotation": [ + 0, + 0.20501, + 0, + 0.97876 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 14.63002, + "euclidean_distance": 5.27642, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.72574, + 0.00557, + -4.76521 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3TYCJO2DG3RMH:3A9AA95ATYPB4MWO73HNAMIZHC65PQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.26575, + 0.80557, + 4.69812 + ], + "start_rotation": [ + 0, + 0.27342, + 0, + 0.9619 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.7225, + "euclidean_distance": 3.23202, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.78653, + 0.80557, + 2.24962 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AYYSG3O9FNU15:308Q0PEVBAG2ONBWXY4KD5MPEZ6I91", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.3589, + 0.00607, + 5.01347 + ], + "start_rotation": [ + 0, + 0.73385, + 0, + -0.67932 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.83096, + "euclidean_distance": 6.14573, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.63482, + 0.20557, + -0.14796 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3NVC2EB65S22ZL1LK7PD8GDQOBLY3L", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.71742, + 0.00557, + 0.43089 + ], + "start_rotation": [ + 0, + 0.99534, + 0, + 0.09644 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.29509, + "euclidean_distance": 3.25784, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.77276, + 0.80557, + -0.36304 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3LQ8PUHQFNVV3TTFVASCQMKD0AEIHQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.15372, + 0.80557, + 3.48417 + ], + "start_rotation": [ + 0, + 0.13446, + 0, + -0.99092 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.66284, + "euclidean_distance": 6.15719, + "closest_goal_object_id": 99, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.50227, + 0.80557, + 1.15864 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "0_edge_78_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + [ + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A7XL1V3G7C2VV:3II4UPYCOLAR8BCWMMEV83W0I28QDZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.03871, + 0.00557, + -1.98419 + ], + "start_rotation": [ + 0, + 0.46799, + 0, + -0.88374 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 14.29516, + "euclidean_distance": 5.62466, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.71854, + 0.80557, + -0.41644 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A3V8LIMUUJWUTL:3TK8OJTYM3OS2GB3DUZ0EKCXDIOVPK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.65991, + 0.00557, + 0.9804 + ], + "start_rotation": [ + 0, + 0.90077, + 0, + -0.43429 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.82313, + "euclidean_distance": 7.93256, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.81281, + 0.00557, + -4.94561 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3W2LOLRXLDIZYIX6RIPIH61WFJFKR6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.32572, + 0.11355, + 2.0228 + ], + "start_rotation": [ + 0, + 0.152, + 0, + -0.98838 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.71721, + "euclidean_distance": 6.6431, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.44627, + 0.01135, + -2.20533 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3K5TEWLKGXE0LUOZ0Z9G5NBM8MOVIM", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.25863, + 0.20557, + 0.10476 + ], + "start_rotation": [ + 0, + 0.50152, + 0, + -0.86514 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 6.00672, + "euclidean_distance": 5.18232, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.8808, + 0.00557, + -5.0227 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3FE7TXL1LKQ451EGPXUECK5X2Y4Q24", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.15095, + 0.00557, + -2.45549 + ], + "start_rotation": [ + 0, + 0.43595, + 0, + 0.89997 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 10.47433, + "euclidean_distance": 4.66031, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.62764, + 0.20557, + -1.02637 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3C8HJ7UOP9X3QXJ0MBWBIMVZA6QZMF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.24258, + 0.00557, + 2.58286 + ], + "start_rotation": [ + 0, + 0.51671, + 0, + -0.85616 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.80223, + "euclidean_distance": 7.44195, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.99224, + 0.00557, + -4.31126 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3B4YI393VBZ9NGARBGYPY2X2IFGSSO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.67999, + 0.57328, + 3.02389 + ], + "start_rotation": [ + 0, + 0.86167, + 0, + -0.50748 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.16676, + "euclidean_distance": 6.14491, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.19849, + 0.80557, + 0.27029 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3H8DHMCCWBE5X8E19HUYCHKRJ6TKDY", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.52459, + 0.00557, + 2.59449 + ], + "start_rotation": [ + 0, + 0.92289, + 0, + -0.38507 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.63362, + "euclidean_distance": 1.44343, + "closest_goal_object_id": 241, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.59725, + 0.20557, + 1.55831 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "9096013c3596463b9c0500520d12fef1", + "path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "refined_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3HRMW88U18T6OCDAIHJJCNSCCCF0M4", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.18278, + 0.80557, + 0.05598 + ], + "start_rotation": [ + 0, + 0.43963, + 0, + -0.89818 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.92533, + "euclidean_distance": 7.28554, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.66121, + 0.08691, + 3.25123 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ] + ] + }, + { + "episode_id": "A75XDPFNICR3T:3MMN5BL1W17254C71412ELQKVMK3M1", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.6411, + 0.80557, + 3.63186 + ], + "start_rotation": [ + 0, + 0.79181, + 0, + 0.61077 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.2722, + "euclidean_distance": 14.72196, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.72429, + 0.00557, + -4.76667 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3EQHHY4HQUV5R93P4KR0GD47DL2G5D", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.34207, + 0.80557, + 3.18774 + ], + "start_rotation": [ + 0, + 0.87207, + 0, + -0.48937 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.60059, + "euclidean_distance": 3.1587, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.03511, + 0.80557, + 0.38939 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A12H9WVHOB0E0O:3X31TUMD7ZPMPJG7EOM4QFWY0QW1LA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.00564, + 0.20557, + 0.08021 + ], + "start_rotation": [ + 0, + 0.86073, + 0, + -0.50905 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.18453, + "euclidean_distance": 4.92277, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.77302, + 0.00557, + -4.69009 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A5A14MTB35J23:32Z9ZLUT1NN5ZF4IT55HAJGZ9M2OHJ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.05898, + 0.30539, + 2.66564 + ], + "start_rotation": [ + 0, + 0.86786, + 0, + -0.49681 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.40837, + "euclidean_distance": 7.11081, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.91215, + 0.80557, + 3.91756 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "0_edge_78_newN_0", + "path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "AK35CJJEYFVYK:3OJSZ2ATDUZMYGSOBHN6A0RE18075L", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.12658, + 0.80557, + 3.1463 + ], + "start_rotation": [ + 0, + 0.31521, + 0, + 0.94902 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.61537, + "euclidean_distance": 4.16898, + "closest_goal_object_id": 99, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.5916, + 0.80557, + 1.13466 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:384PI804XU49M7QF2EF5OWRJ7E6S0C", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.60819, + 0.14207, + 4.20325 + ], + "start_rotation": [ + 0, + 0.99944, + 0, + -0.03361 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.25481, + "euclidean_distance": 4.84768, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.63315, + 0.20557, + -0.3 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:33F859I568GLGLF9P00V4ZG016SHBI", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.85886, + 0.00557, + -2.56975 + ], + "start_rotation": [ + 0, + 0.9706, + 0, + -0.24072 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 14.57627, + "euclidean_distance": 5.64615, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.76231, + 0.80557, + -0.33444 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "0_edge_72_newN_0", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A14E0Y5HPALKZN:3QAVNHZ3EO7IJ7T7A7FX1GP0NTLLA0", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.28074, + 0.00557, + -4.30695 + ], + "start_rotation": [ + 0, + 0.43017, + 0, + -0.90275 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.68051, + "euclidean_distance": 2.37499, + "closest_goal_object_id": 173, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.50376, + 0.00557, + -5.98148 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3YOH7BII0BARRPEN02USI3QYHVVKVT", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.54371, + 0.00557, + 3.39967 + ], + "start_rotation": [ + 0, + 0.55638, + 0, + 0.83092 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.55605, + "euclidean_distance": 4.72983, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.69764, + 0.20557, + -0.19937 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3EA3QWIZ4KYL82KAV49145N0UJ3TIG", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.12494, + 0.02679, + -2.04511 + ], + "start_rotation": [ + 0, + 0.99974, + 0, + 0.02273 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.34212, + "euclidean_distance": 3.0858, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.85327, + 0.00557, + -5.03962 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "0_edge_43_newN_1", + "path": [ + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + [ + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A28HB7240OFGEW:336YQZE83XH5JJZBFNPVTIO49EY5M8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.08506, + 0.00713, + -2.20481 + ], + "start_rotation": [ + 0, + 0.20826, + 0, + 0.97807 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 2.89889, + "euclidean_distance": 2.65558, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.71881, + 0.00557, + -4.76784 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "0_edge_43_newN_1", + "path": [ + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3VA45EW49PQUV4J4RG2WIW0SVQF1OV", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.24605, + 0.00557, + -0.59459 + ], + "start_rotation": [ + 0, + 0.9118, + 0, + -0.41064 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 11.90763, + "euclidean_distance": 3.81374, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.58813, + 0.80557, + -0.09156 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:31N2WW6R9TTWZUKQFHXPJV6BYH5F3V", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.31376, + 0.80557, + 4.80341 + ], + "start_rotation": [ + 0, + 0.54597, + 0, + 0.83781 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 7.50728, + "euclidean_distance": 2.42942, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.95026, + 0.80557, + 3.8623 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + [ + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0" + ], + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:35GMH2SV3GKTF5DG34XBPGJMH0HOEY", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.75136, + 0.97115, + 1.5602 + ], + "start_rotation": [ + 0, + 0.86016, + 0, + -0.51003 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.85817, + "euclidean_distance": 3.35304, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.63471, + 0.80557, + 0.08784 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "48a2541fc50b4a57a609698e2375e9b1", + "path": [ + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + [ + "48a2541fc50b4a57a609698e2375e9b1" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A3V8LIMUUJWUTL:3JWH6J9I9UGDQH1KSYV89JDVABTNBW", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.63858, + 0.00557, + -3.1023 + ], + "start_rotation": [ + 0, + 0.62402, + 0, + 0.78141 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 10.25709, + "euclidean_distance": 3.61448, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.63786, + 0.20557, + -1.10839 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:31Z0PCVWUMIOJI3ECD54DGXSUSGT73", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.23962, + 0.00557, + -1.5439 + ], + "start_rotation": [ + 0, + 0.26116, + 0, + 0.9653 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 14.14998, + "euclidean_distance": 6.34347, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.71224, + 0.00557, + -4.84354 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3JNQLM5FT6PTE4Y3XSMIVY63P0A2LX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.28493, + 0.80557, + -2.4509 + ], + "start_rotation": [ + 0, + 0.41041, + 0, + 0.9119 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 14.30344, + "euclidean_distance": 12.38808, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.64389, + 0.09029, + 3.3367 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "cf7dde32a96d412791ca901207e4f3dd", + "path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0" + ], + "refined_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0" + ] + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3KYQYYSHYXAONZZG79MRJY101JPDOB", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.57792, + 0.80557, + -1.62174 + ], + "start_rotation": [ + 0, + 0.68617, + 0, + 0.72744 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 2.49362, + "euclidean_distance": 2.25768, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.74673, + 0.80557, + 0.22412 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "d6d4416592a0483691a1ed7d3b336a1a", + "path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3IGI0VL649NX9BQTW30UF3DUHAMNOA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.3942, + 0.0726, + 3.54496 + ], + "start_rotation": [ + 0, + 0.0179, + 0, + 0.99984 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 10.05365, + "euclidean_distance": 9.25243, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.80051, + 0.00557, + -4.91596 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3R6BYFZZP9F8FSR4Z64DQBVF85YXFU", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.81727, + 0.80557, + 4.91828 + ], + "start_rotation": [ + 0, + 0.38913, + 0, + -0.92118 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.85648, + "euclidean_distance": 6.23031, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.84006, + 0.80557, + 2.23965 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A141U21ZM8A3KE:3UXUOQ9OKG0J4M456DENIB7ZSA07AZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.89282, + 0.13589, + 3.55994 + ], + "start_rotation": [ + 0, + 0.12349, + 0, + 0.99235 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.01851, + "euclidean_distance": 1.83836, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.42021, + 0.11183, + 2.59825 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f" + ] + }, + { + "episode_id": "A2R2YZTSME1K3F:35DR22AR5FNDZGBBFB3BP26I2MSX3V", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.96525, + 0.80557, + 0.65385 + ], + "start_rotation": [ + 0, + 0.46189, + 0, + -0.88694 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 10.61191, + "euclidean_distance": 9.14157, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.57343, + 0.0751, + 3.23843 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "ba19aada2e9a47839c0355085f70f7c5", + "path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "48a2541fc50b4a57a609698e2375e9b1", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "1eac2c379ebf4e059f4a35e584f82f9b", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "0_edge_78_newN_0", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "48a2541fc50b4a57a609698e2375e9b1", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1" + ], + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3M0BCWMB8XZ3DBAYKZMV52QM3N1BWF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.08852, + 0.403, + 4.30535 + ], + "start_rotation": [ + 0, + 0.80365, + 0, + -0.59511 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.54727, + "euclidean_distance": 4.65919, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.91157, + 0.80557, + 0.21807 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + [ + "39791f422b0244aa84b3d41d9b218f7e" + ], + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A35CL66BEUSJ5Z:31QTRG6Q2VG96A68I5MKLJGSCGRPY5", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.0542, + 0.17203, + 3.80587 + ], + "start_rotation": [ + 0, + 0.10078, + 0, + -0.99491 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.20741, + "euclidean_distance": 1.83671, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.43214, + 0.10049, + 2.63943 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ] + ] + }, + { + "episode_id": "A9K0CV70JWG1W:33TIN5LC06DOENQ11GQNZTGD7DRY93", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.09437, + 0.12101, + 2.99901 + ], + "start_rotation": [ + 0, + 0.21369, + 0, + 0.9769 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.64639, + "euclidean_distance": 6.00912, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.65178, + 0.20557, + -0.97037 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3GGAI1SQEX1QI48QUXC37OUDN6MMC5", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.65939, + 0.00557, + -6.2407 + ], + "start_rotation": [ + 0, + 0.80786, + 0, + 0.58938 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 2.65507, + "euclidean_distance": 1.65193, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.80312, + 0.00557, + -4.91031 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "b000c5baa76b454caa1c58c9aac585f6", + "path": [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:3C6FJU71TSWMYFE4ZRLEVP3Q3FMYUU", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.80991, + 0.14991, + 3.93552 + ], + "start_rotation": [ + 0, + 0.7769, + 0, + -0.62963 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.39053, + "euclidean_distance": 2.10901, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.47823, + 0.09898, + 2.64062 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "A2KOR4003SVNC5:3SNVL38CI6VVSG8N9LZNSB2ACKDCKU", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.86916, + 0.00557, + -5.02287 + ], + "start_rotation": [ + 0, + 0.90384, + 0, + 0.42786 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.60359, + "euclidean_distance": 2.32945, + "closest_goal_object_id": 212, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.02702, + 0.00557, + -2.77147 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3VD82FOHKSREI7T27DRGZSJJZSNOCZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.003, + 0.00557, + -1.73456 + ], + "start_rotation": [ + 0, + 0.99985, + 0, + -0.01733 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 14.41227, + "euclidean_distance": 6.45544, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.73776, + 0.00557, + -4.69473 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "d6d4416592a0483691a1ed7d3b336a1a", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:39K0FND3AJI2PPBSAJGC1T4PLG5AMJ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.18092, + 0.80557, + 0.18052 + ], + "start_rotation": [ + 0, + 0.54476, + 0, + -0.83859 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.8302, + "euclidean_distance": 1.65287, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.4509, + 0.80557, + -1.50801 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3DIP6YHAPEVQUDQ0WN8FSUTLMZC8E4", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.52393, + 0.80557, + -1.52886 + ], + "start_rotation": [ + 0, + 0.89865, + 0, + 0.43867 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.36246, + "euclidean_distance": 2.8296, + "closest_goal_object_id": 72, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.70517, + 0.80557, + 0.45449 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "d6d4416592a0483691a1ed7d3b336a1a", + "path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + [ + "48a2541fc50b4a57a609698e2375e9b1" + ], + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3DY4FPOOA3RDETRIQM3PJFCDR7BVR4", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.76681, + 0.80557, + 4.83228 + ], + "start_rotation": [ + 0, + 0.31555, + 0, + 0.94891 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.35468, + "euclidean_distance": 5.39535, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.73452, + 0.80557, + -0.27267 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ] + }, + { + "episode_id": "A3V8LIMUUJWUTL:308Q0PEVBAG2ONBWXY4KD5MO0CAI9F", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.2092, + 0.00557, + -2.56285 + ], + "start_rotation": [ + 0, + 0.64133, + 0, + -0.76726 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.27558, + "euclidean_distance": 5.23086, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.88208, + 0.00557, + -4.9035 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:333U7HK6IBIAMO8JRWUMB2KFIUSDJX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.07217, + 0.00557, + -2.93351 + ], + "start_rotation": [ + 0, + 0.28671, + 0, + 0.95802 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 13.34163, + "euclidean_distance": 3.28292, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.00518, + 0.00557, + -4.40028 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:34V1S5K3GU4MV3GVVXVVG2WK82I96W", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.31231, + 0.80557, + 4.38658 + ], + "start_rotation": [ + 0, + 0.97791, + 0, + -0.20901 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.54336, + "euclidean_distance": 4.75374, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.55464, + 0.80557, + -0.11587 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3GM6G9ZBKP074LA1GJ7TWYUIPIEMTC", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.82349, + 0.00557, + -4.56691 + ], + "start_rotation": [ + 0, + 0.77956, + 0, + 0.62633 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.86396, + "euclidean_distance": 5.40944, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.9843, + 0.20557, + 0.79295 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "refined_path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3ZGVPD4G6VK73S9KV8XN40QR4ESZTM", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.59153, + 0.00557, + -6.34339 + ], + "start_rotation": [ + 0, + 0.14757, + 0, + -0.98905 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 2.55235, + "euclidean_distance": 2.15519, + "closest_goal_object_id": 193, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.8902, + 0.00557, + -4.48754 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "6f8d55f24a85428894e82cb9f5f082d6", + "path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:31QTRG6Q2VG96A68I5MKLJGS86FYPE", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.07892, + 0.00557, + -3.25927 + ], + "start_rotation": [ + 0, + 0.63062, + 0, + -0.77609 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 15.26451, + "euclidean_distance": 3.65908, + "closest_goal_object_id": 173, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.57484, + 0.00557, + -5.98837 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3BXQMRHWK11M4YPQGOX31UGKBONMUS", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.38553, + 0.00557, + -6.34268 + ], + "start_rotation": [ + 0, + 0.09438, + 0, + -0.99554 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 2.61941, + "euclidean_distance": 2.27897, + "closest_goal_object_id": 193, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.73631, + 0.00557, + -4.537 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "6f8d55f24a85428894e82cb9f5f082d6", + "path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3Y5140Z9DZJNGAR3EN0HZVM4J6AIPO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.58997, + 0.80557, + 2.19268 + ], + "start_rotation": [ + 0, + 0.59555, + 0, + -0.80332 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.83809, + "euclidean_distance": 8.21925, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.60144, + 0.08566, + 3.34715 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "792bca2f015c482a82fae650dd5607f5", + "path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "refined_path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:32ZKVD547HQ6MD8AAFBT05FQJDO3B0", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.71737, + 0.02707, + 2.55178 + ], + "start_rotation": [ + 0, + 0.98506, + 0, + -0.17222 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.44105, + "euclidean_distance": 1.28142, + "closest_goal_object_id": 241, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.54343, + 0.20557, + 1.62501 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "9096013c3596463b9c0500520d12fef1", + "path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "refined_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:320DUZ38G9PDY8IATMVUHNNBH06JGN", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.03464, + 0.00557, + -0.48552 + ], + "start_rotation": [ + 0, + 0.22184, + 0, + -0.97508 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 12.58568, + "euclidean_distance": 6.01761, + "closest_goal_object_id": 173, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.4462, + 0.00557, + -5.9694 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_12_newN_0", + "path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:33C7UALJVN1RACWOKZD0LAASGP618V", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.76475, + 0.00557, + -1.82588 + ], + "start_rotation": [ + 0, + 0.82711, + 0, + 0.56203 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.73061, + "euclidean_distance": 9.60945, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.06772, + 0.80557, + 3.80226 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "0_edge_17_newN_1", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0" + ], + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3XCC1ODXDNEL9LV14N9FDSD4XECQR4", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.37354, + 0.00557, + 0.32359 + ], + "start_rotation": [ + 0, + 0.20886, + 0, + 0.97795 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.41574, + "euclidean_distance": 10.92784, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.07448, + 0.80557, + 3.77901 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + [ + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3B1NLC6UG1Z9KJL8OZ0EEJ9O4MAGP8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.66249, + 0.08136, + 4.52218 + ], + "start_rotation": [ + 0, + 0.18464, + 0, + 0.98281 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.62674, + "euclidean_distance": 6.77235, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.60267, + 0.20557, + -0.9457 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0" + ], + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3TXD01ZLD6K6080KAKX7F0ZKM33U4F", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.18332, + 0.20557, + 1.22893 + ], + "start_rotation": [ + 0, + 0.85245, + 0, + -0.52281 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 17.83875, + "euclidean_distance": 14.37209, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.0244, + 0.80557, + 3.94671 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3DY46V3X3RL7BCE5NO89CGDINDA558", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.89355, + 0.80557, + 4.54412 + ], + "start_rotation": [ + 0, + 0.81746, + 0, + -0.57599 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.91049, + "euclidean_distance": 4.6229, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.01107, + 0.80557, + 0.30657 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3JPSL1DZ5U2877WSMKVCE8TQ9DQNA6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.05188, + 0.80557, + 4.02796 + ], + "start_rotation": [ + 0, + 0.08332, + 0, + -0.99652 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.63847, + "euclidean_distance": 4.21874, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.06869, + 0.80557, + 0.29359 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:3E4GGUZ1TAUIUYGLCSAHGYTO0Y62KR", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.38039, + 0.10858, + 2.61823 + ], + "start_rotation": [ + 0, + 0.95706, + 0, + 0.28988 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.53997, + "euclidean_distance": 5.06431, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.65616, + 0.20557, + -0.23666 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3NS0A6KXC6B3YNNEB8YG5HB2HOZZG3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.90929, + 0.00557, + 2.89278 + ], + "start_rotation": [ + 0, + 0.9011, + 0, + 0.43362 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.95786, + "euclidean_distance": 8.56296, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.75805, + 0.00557, + -4.73302 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3E1QT0TDFRC2AISMS6Y6D9RETDOI8F", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.77175, + 0.00557, + -1.78209 + ], + "start_rotation": [ + 0, + 0.63042, + 0, + 0.77625 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 13.96164, + "euclidean_distance": 5.31717, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.67787, + 0.80557, + -0.35435 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + [ + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + [ + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A3LRZX8477TYYZ:3TVRFO09GMIUFK10LH7BLO0ZPSZXLG", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.23458, + 0.12201, + 3.97928 + ], + "start_rotation": [ + 0, + 0.13105, + 0, + 0.99138 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 11.87203, + "euclidean_distance": 10.32859, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.68848, + 0.00557, + -4.76854 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3TEM0PF1Q703KI7X5OKGTX5I58J0D4", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.15348, + 0.00557, + 2.93355 + ], + "start_rotation": [ + 0, + 0.81437, + 0, + 0.58035 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.64383, + "euclidean_distance": 8.90916, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.703, + 0.80557, + 0.07773 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753" + ], + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3SB4CE2TJXYDJ1AWOQILCAKNSK0AXE", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.98141, + 0.00557, + 1.35805 + ], + "start_rotation": [ + 0, + 0.11787, + 0, + 0.99303 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.46533, + "euclidean_distance": 6.44514, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.9263, + 0.00557, + -4.34237 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2FUNB3BUB3U07:3G0WWMR1UXN0UN39BGSY488VDYVQN5", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.00622, + 0.80557, + -1.38108 + ], + "start_rotation": [ + 0, + 0.83239, + 0, + -0.55419 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 13.20122, + "euclidean_distance": 11.68174, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.71659, + 0.09175, + 3.21923 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "0_edge_33_newN_2", + "path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "1eac2c379ebf4e059f4a35e584f82f9b", + "cf7dde32a96d412791ca901207e4f3dd", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + ] + }, + { + "episode_id": "AOWW3URQNRJ6U:32ZKVD547HQ6MD8AAFBT05FP5Z0B3C", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.10035, + 0.04313, + 1.69691 + ], + "start_rotation": [ + 0, + 0.41269, + 0, + -0.91087 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.94491, + "euclidean_distance": 3.97024, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.65606, + 0.20557, + -0.28075 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3R3YRB5GRH6L2XG1JL7YS3LKH6FUAV", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.0563, + 0.19322, + 4.12831 + ], + "start_rotation": [ + 0, + 0.07263, + 0, + -0.99736 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.52539, + "euclidean_distance": 2.04748, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.43324, + 0.0953, + 2.65872 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3DY46V3X3RL7BCE5NO89CGDH77R55V", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.69858, + 0.18532, + 4.47618 + ], + "start_rotation": [ + 0, + 0.98365, + 0, + -0.18007 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 11.10118, + "euclidean_distance": 5.14021, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.94226, + 0.80557, + 0.21197 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A1S0N5BIXAQO8I:3AWETUDC94VHUET91WYJQTOIWXNZIJ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.64183, + 0.00557, + 2.8031 + ], + "start_rotation": [ + 0, + 0.97171, + 0, + -0.23618 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 4.21665, + "euclidean_distance": 3.92514, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.71827, + 0.20557, + -0.95873 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "9096013c3596463b9c0500520d12fef1", + "path": [ + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A3V9JFVZQ2XF4Y:30ZX6P7VFAYNJEA3U7A5FJTA7E92JP", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.85436, + 0.00557, + -0.51152 + ], + "start_rotation": [ + 0, + 0.91126, + 0, + 0.41184 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 10.71172, + "euclidean_distance": 5.71167, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.3191, + 0.80557, + 0.16711 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3QAPZX2QN6GGH89H8Z0ZXEEFMZI201", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.84167, + 0.00557, + 2.52737 + ], + "start_rotation": [ + 0, + 0.3172, + 0, + -0.94836 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.07444, + "euclidean_distance": 3.87984, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.6777, + 0.20557, + -0.27341 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3HMVI3QICLV6PIN6X3BUKNYU90EY13", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.87817, + 0.00557, + -0.54551 + ], + "start_rotation": [ + 0, + 0.84098, + 0, + 0.54106 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 11.89924, + "euclidean_distance": 3.45189, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.6046, + 0.80557, + -0.11743 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A1S0N5BIXAQO8I:3D4CH1LGECWOSW517A4HST992G99GM", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.10324, + 0.00557, + 1.5069 + ], + "start_rotation": [ + 0, + 0.88521, + 0, + -0.46519 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.87902, + "euclidean_distance": 7.84858, + "closest_goal_object_id": 173, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.57814, + 0.00557, + -5.84101 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A2KOR4003SVNC5:3OB0CAO74JSHTT8KZSEFCAE1NW8HYU", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.65239, + 0.08385, + 3.05525 + ], + "start_rotation": [ + 0, + 0.63603, + 0, + -0.77166 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.89626, + "euclidean_distance": 8.65208, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.99402, + 0.80557, + 3.96698 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "0_edge_17_newN_1", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + [ + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3WETL7AQWVB4XXR195KGXJFXVXY35B", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.97537, + 0.80557, + 0.14256 + ], + "start_rotation": [ + 0, + 0.06422, + 0, + 0.99794 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.95724, + "euclidean_distance": 1.65355, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.39436, + 0.80557, + -1.46642 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "ba19aada2e9a47839c0355085f70f7c5", + "path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3X1FV8S5JZUMP3I4AB9DKBY5CS9GVB", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.37628, + 0.10001, + 3.59079 + ], + "start_rotation": [ + 0, + 0.22785, + 0, + 0.9737 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.18389, + "euclidean_distance": 5.0769, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.71758, + 0.80557, + 0.08461 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3DQQ64TANIO5H5B8344W0MVC1E8WP6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.11391, + 0.80557, + 1.10126 + ], + "start_rotation": [ + 0, + 0.98989, + 0, + -0.14185 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.78682, + "euclidean_distance": 11.05443, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.57541, + 0.07612, + 3.25025 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "6ab11272308c46068c9ae583da8ff311", + "path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "d2600c4cac6445a7b7f0eef51a074043", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "refined_path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + [ + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5" + ], + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3Z4XG4ZF4AUZ0DHHRSY7GJETL14X8W", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.67436, + 0.80557, + 5.03706 + ], + "start_rotation": [ + 0, + 0.63017, + 0, + 0.77645 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.14106, + "euclidean_distance": 4.87947, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.77911, + 0.80557, + 0.10682 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3GD6L00D3U06V1YSE0NJQSBNXX7M1J", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.22704, + 0.80557, + 3.53328 + ], + "start_rotation": [ + 0, + 0.81738, + 0, + -0.57609 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 7.48279, + "euclidean_distance": 4.17156, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.95179, + 0.80557, + 3.82231 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A141U21ZM8A3KE:3EG49X351WFCWZYTYD19W5I1YTK6XG", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.91556, + 0.80557, + 3.41453 + ], + "start_rotation": [ + 0, + 0.75042, + 0, + 0.66097 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.43577, + "euclidean_distance": 3.24295, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.01152, + 0.80557, + 0.27146 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3V0Z7YWSI03WA9AXBWOOI7453HZ2VS", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.57862, + 0.00557, + -0.45944 + ], + "start_rotation": [ + 0, + 0.78236, + 0, + -0.62283 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.30995, + "euclidean_distance": 3.68062, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.76745, + 0.00557, + 1.35941 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "6ab11272308c46068c9ae583da8ff311", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "1eac2c379ebf4e059f4a35e584f82f9b", + "d2600c4cac6445a7b7f0eef51a074043", + "0_edge_78_newN_0", + "0_edge_17_newN_1", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_75_newN_1" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0" + ], + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3WSELTNVR5562K1CJGHON7ZIYXGTAL", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.61734, + 0.00557, + -5.86233 + ], + "start_rotation": [ + 0, + 0.6325, + 0, + -0.77456 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 23.83538, + "euclidean_distance": 15.90212, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.04275, + 0.80557, + 3.8491 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "b000c5baa76b454caa1c58c9aac585f6", + "path": [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + [ + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3IQ1VMJRYVNNI5SYLAC7W7Y5LXZA9H", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.61993, + 0.80557, + 0.88759 + ], + "start_rotation": [ + 0, + 0.21259, + 0, + 0.97714 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 19.558, + "euclidean_distance": 13.36225, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.73501, + 0.00557, + -4.67156 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "48a2541fc50b4a57a609698e2375e9b1", + "path": [ + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1" + ], + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:30JNVC0ORBN8KRHY8IXLZOBYAVCQHL", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.43144, + 0.00557, + 0.01021 + ], + "start_rotation": [ + 0, + 0.90633, + 0, + -0.42257 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 11.30853, + "euclidean_distance": 3.98126, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.53784, + 0.80557, + -0.09801 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A2FUNB3BUB3U07:3TXWC2NHN1TRI1ES2AYYH7SCQVJS9D", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.16791, + 0.20557, + -0.43399 + ], + "start_rotation": [ + 0, + 0.93978, + 0, + 0.34177 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 15.74323, + "euclidean_distance": 11.41913, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.74078, + 0.80557, + 0.04509 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "97739a403b984dcd8253741a073b18dd", + "path": [ + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd" + ], + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A101U3FTZYY87V:3PEIJLRY6VWAQEDZPVEDUZHF08FXWG", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.0387, + 0.80557, + 3.06245 + ], + "start_rotation": [ + 0, + 0.99381, + 0, + 0.11112 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 4.56548, + "euclidean_distance": 2.95699, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.85589, + 0.80557, + 2.25261 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3IAS3U3I0HJH1VCR6FXOHVAYD46B2P", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.97716, + 0.00557, + -4.51713 + ], + "start_rotation": [ + 0, + 0.31149, + 0, + 0.95025 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 22.50713, + "euclidean_distance": 15.416, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.95182, + 0.80557, + 3.90367 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "8554983cf79243f6bfb0f6fa8950e8a5", + "path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3Z2R0DQ0JJHF8YOBG6ZEI3GJG3W2EX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.45836, + 0.80557, + -2.02862 + ], + "start_rotation": [ + 0, + 0.61684, + 0, + 0.78709 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 14.21529, + "euclidean_distance": 8.97353, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.63295, + 0.08835, + 3.32794 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "755d110c2ed84d76be11ad56ae00b53f", + "path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3E337GFOLBB9HY9V8KNMAU4SQTNGNI", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.728, + 0.00557, + -2.93299 + ], + "start_rotation": [ + 0, + 0.74167, + 0, + 0.67077 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.28808, + "euclidean_distance": 3.93524, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.69946, + 0.20557, + -0.20145 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3R9WASFE21JXKNRJ0OSYNWBQG5GZFD", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.26139, + 0.80557, + 0.35059 + ], + "start_rotation": [ + 0, + 0.31786, + 0, + 0.94814 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.92875, + "euclidean_distance": 1.81462, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.36347, + 0.80557, + -1.47639 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3RJSC4XJ12X8G5S4QI2XVLHQSRK500", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.77913, + 0.80557, + -1.30072 + ], + "start_rotation": [ + 0, + 0.52979, + 0, + -0.84813 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 1.82045, + "euclidean_distance": 1.5373, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.84649, + 0.80557, + -0.02089 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "d6d4416592a0483691a1ed7d3b336a1a", + "path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "0_edge_29_newN_0" + ], + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + ] + }, + { + "episode_id": "A28U7B76HLCS1U:39KFRKBFIPYRLAU73595WJB22BAYOC", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.95323, + 0.0565, + 1.2134 + ], + "start_rotation": [ + 0, + 0.92456, + 0, + 0.38103 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.44149, + "euclidean_distance": 5.57554, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.74757, + 0.80557, + -0.49672 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3CPLWGV3MQ2U2OMNUEHCIDI63UB9NE", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.60757, + 0.80557, + 4.03459 + ], + "start_rotation": [ + 0, + 0.8624, + 0, + -0.50623 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.0577, + "euclidean_distance": 2.3029, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.85412, + 0.80557, + 2.05545 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3FFJ6VRIL3RKSTNJX2LRKULWBPEI0F", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.75789, + 0.80557, + 5.09125 + ], + "start_rotation": [ + 0, + 0.24005, + 0, + 0.97076 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.26276, + "euclidean_distance": 1.19234, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.55133, + 0.80557, + 3.96637 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3LWJHTCVCEPO6VQSDS9LW3ZM823FQ4", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.35308, + 0.10082, + 3.19214 + ], + "start_rotation": [ + 0, + 0.29259, + 0, + -0.95624 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.42741, + "euclidean_distance": 5.9536, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.67599, + 0.20557, + -0.9811 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3MTMREQS4XLYU156ELMZAR6H2QQWA4", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.55717, + 0.80557, + 2.12326 + ], + "start_rotation": [ + 0, + 0.99438, + 0, + 0.10582 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 2.13645, + "euclidean_distance": 1.44263, + "closest_goal_object_id": 99, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.58484, + 0.80557, + 1.21301 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "792bca2f015c482a82fae650dd5607f5", + "path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39O5D9O87VVPWI0GOF7OBPL7L1X3C4", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.57773, + 0.00557, + 3.22146 + ], + "start_rotation": [ + 0, + 0.02739, + 0, + 0.99962 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 13.10968, + "euclidean_distance": 11.29793, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.65372, + 0.80557, + 0.01588 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "0_edge_17_newN_0", + "path": [ + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0" + ], + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "0_edge_29_newN_0" + ], + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:36ZN444YTT15VAF2ZNN2AVHE9SVIO6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.11792, + 0.17951, + 4.04877 + ], + "start_rotation": [ + 0, + 0.31289, + 0, + -0.94979 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.44043, + "euclidean_distance": 1.94724, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.43965, + 0.11233, + 2.5945 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ] + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3UWN2HHPU08C73IM3KH3Z8NVEUSNS0", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.37168, + 0.80557, + -2.93446 + ], + "start_rotation": [ + 0, + 0.96738, + 0, + 0.25334 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.9289, + "euclidean_distance": 4.75574, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.70673, + 0.80557, + -0.36446 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "cf7dde32a96d412791ca901207e4f3dd", + "path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "48a2541fc50b4a57a609698e2375e9b1", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3J4Q2Z4UT06QHHCN3HJL0RLM3CKWQO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.58556, + 0.00557, + -1.5389 + ], + "start_rotation": [ + 0, + 0.25515, + 0, + -0.9669 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.02533, + "euclidean_distance": 3.2667, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.56176, + 0.20557, + -0.27092 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "0_edge_12_newN_0", + "path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3ZAZR5XV03LQHB799M2XFQQM0X1ZC4", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.30751, + 0.80557, + 4.99221 + ], + "start_rotation": [ + 0, + 0.89286, + 0, + 0.45033 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.22218, + "euclidean_distance": 3.42594, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.01265, + 0.80557, + 3.88328 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "0_edge_78_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_17_newN_1", + "aec90a1137d245ed84d8c1b3e809a1d8", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "aec90a1137d245ed84d8c1b3e809a1d8", + [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0" + ], + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:3PH3VY7DJN0ZV9DEQD2YRKXQB7YWZY", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.8943, + 0.00557, + -3.16889 + ], + "start_rotation": [ + 0, + 0.93886, + 0, + -0.34429 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 14.82631, + "euclidean_distance": 6.17345, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.5546, + 0.80557, + -0.14628 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + [ + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3OF2M9AATIR809JX1ZJV393VL80ZKT", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.98605, + 0.00557, + 0.9142 + ], + "start_rotation": [ + 0, + 0.24247, + 0, + 0.97016 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.28208, + "euclidean_distance": 4.72978, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.59994, + 0.20557, + -0.08901 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:3Y5140Z9DZJNGAR3EN0HZVM4JX3PI6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.93539, + 0.80557, + 3.08072 + ], + "start_rotation": [ + 0, + 0.88768, + 0, + -0.46046 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.20227, + "euclidean_distance": 3.65689, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.56253, + 0.80557, + -0.11736 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3PJUZCGDJ8J9ZHZJOCST0GSBB4Q89A", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.84019, + 0.80557, + 3.62021 + ], + "start_rotation": [ + 0, + 0.04784, + 0, + -0.99885 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.07162, + "euclidean_distance": 5.77637, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.99552, + 0.80557, + 3.90957 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3TY7ZAOG5HNBYOD7X563XA096UJ0KT", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -0.95288, + 0.80557, + 3.78181 + ], + "start_rotation": [ + 0, + 0.27236, + 0, + 0.9622 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 7.28518, + "euclidean_distance": 6.00191, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.86382, + 0.80557, + 0.2121 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "d2600c4cac6445a7b7f0eef51a074043", + "path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3IGI0VL649NX9BQTW30UF3DUFXJNOF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.01853, + 0.80557, + 4.77882 + ], + "start_rotation": [ + 0, + 0.61106, + 0, + 0.79158 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.12695, + "euclidean_distance": 15.11359, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.6879, + 0.00557, + -4.77 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f" + ], + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2R2YZTSME1K3F:3HYA4D452TM7ECO7BHJK0L1JS3SF27", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.4786, + 0.00557, + 2.51742 + ], + "start_rotation": [ + 0, + 0.35397, + 0, + -0.93526 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.443, + "euclidean_distance": 2.95586, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.7339, + 0.20557, + -0.12595 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "9096013c3596463b9c0500520d12fef1", + "path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3WQQ9FUS6CXSNAEGMW6PRMN0LBA8BZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.638, + 0.00557, + 0.69327 + ], + "start_rotation": [ + 0, + 0.78706, + 0, + -0.61688 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.27651, + "euclidean_distance": 6.91299, + "closest_goal_object_id": 173, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.60276, + 0.00557, + -5.87332 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3QECW5O0KJ49WEPVOKQ7FWJVNALT5I", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.7945, + 0.80557, + 4.79306 + ], + "start_rotation": [ + 0, + 0.10626, + 0, + 0.99434 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 7.66658, + "euclidean_distance": 4.69748, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.73618, + 0.80557, + 0.22533 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3BWI6RSP7ICMUZLHMIG9EUXRRHL7EH", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.90722, + 0.05128, + 3.78658 + ], + "start_rotation": [ + 0, + 0.76387, + 0, + 0.64537 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.28279, + "euclidean_distance": 5.4334, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.6637, + 0.20557, + -0.30499 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3LBXNTKX0TYZEI0RWK4LGF942DX9XH", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.58781, + 0.00557, + -1.40569 + ], + "start_rotation": [ + 0, + 0.94931, + 0, + -0.31435 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.91476, + "euclidean_distance": 3.21754, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.69263, + 0.20557, + -0.09228 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_12_newN_0", + "path": [ + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3OSWBBLG1G0BH8D8809N2BSUWVZXD6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.24928, + 0.00557, + -2.82249 + ], + "start_rotation": [ + 0, + 0.78648, + 0, + -0.61762 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 13.97809, + "euclidean_distance": 3.96318, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.72265, + 0.00557, + -4.71287 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:39RP059MEJW78ZGKGXG8W4OWM3VBMF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.44275, + 0.20557, + 1.39252 + ], + "start_rotation": [ + 0, + 0.81462, + 0, + 0.57999 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 7.15433, + "euclidean_distance": 6.48084, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.83403, + 0.00557, + -4.97862 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2QSVBUPZQ9USZ:373ERPL3YQBY11NTLR3AIXOSYZZTRK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 14.05588, + 0.20557, + 1.51884 + ], + "start_rotation": [ + 0, + 0.99965, + 0, + 0.02659 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 7.6504, + "euclidean_distance": 6.69322, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.85615, + 0.00557, + -4.90102 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:31LM9EDVONVJ80ZWGQ8P77W9ZXMJNE", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.56705, + 0.09188, + 5.20484 + ], + "start_rotation": [ + 0, + 0.36963, + 0, + 0.92918 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 11.47728, + "euclidean_distance": 10.51791, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.98946, + 0.00557, + -4.29711 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3TY7ZAOG5HNBYOD7X563XA08PB90KY", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.12426, + 0.09211, + 3.47122 + ], + "start_rotation": [ + 0, + 0.50539, + 0, + -0.86289 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.85749, + "euclidean_distance": 1.59198, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.55753, + 0.11447, + 2.57512 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9096013c3596463b9c0500520d12fef1", + "path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "refined_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:34QN5IT0T1UR3NB6OG9075RHU5180X", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.48399, + 0.1877, + 2.99112 + ], + "start_rotation": [ + 0, + 0.78492, + 0, + -0.61959 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.03786, + "euclidean_distance": 6.87712, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.36888, + 0.80557, + 0.2301 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3UXUOQ9OKG0J4M456DENIB7ZSAVA7X", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.07646, + 0.00557, + -0.34262 + ], + "start_rotation": [ + 0, + 0.2724, + 0, + -0.96218 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 12.52235, + "euclidean_distance": 6.0504, + "closest_goal_object_id": 162, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.67492, + 0.00557, + -6.19209 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3TAYZSBPLNBGIHTTH1JJ7KKYKP9S2L", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.78358, + 0.00557, + 0.75425 + ], + "start_rotation": [ + 0, + 0.11353, + 0, + 0.99353 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 9.48381, + "euclidean_distance": 6.10783, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.80041, + 0.80557, + -0.0119 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3HOSI13XH1RXJ28RH08B84P1ZSDDDL", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.10677, + 0.00557, + -2.50822 + ], + "start_rotation": [ + 0, + 0.94507, + 0, + 0.32686 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.93659, + "euclidean_distance": 6.24449, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.8265, + 0.00557, + -4.99128 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:39GXDJN2OVH7WOCMRDXPSYH7MLX8VA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.30464, + 0.02456, + 3.13007 + ], + "start_rotation": [ + 0, + 0.99653, + 0, + -0.08322 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.32488, + "euclidean_distance": 1.32488, + "closest_goal_object_id": 133, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 8.35497, + 0.01998, + 1.92198 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3KWTYT08726LD1HQFBOGT59FWUWL53", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.39677, + 0.00557, + -2.34977 + ], + "start_rotation": [ + 0, + 0.89831, + 0, + -0.43937 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.24801, + "euclidean_distance": 4.93504, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.97075, + 0.00557, + 1.08721 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_72_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_33_newN_2", + "6ab11272308c46068c9ae583da8ff311", + "373c50dfa27649188f8e5b66c28f10a7", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "0_edge_29_newN_0" + ], + "0_edge_33_newN_2", + [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796" + ], + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3PB5A5BD0X9KEDH8SD6XEXI34XY7GW", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.41459, + 0.00557, + -1.87965 + ], + "start_rotation": [ + 0, + 0.62975, + 0, + -0.7768 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 10.154, + "euclidean_distance": 5.41825, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.60563, + 0.20557, + -0.15971 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + [ + "04135640920a4ba2b7dc68c679c43903" + ], + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3VSOLARPKDCNYKTDCVXX9ZK0I4739H", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.44628, + 0.80557, + 2.20079 + ], + "start_rotation": [ + 0, + 0.92706, + 0, + 0.37492 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.86816, + "euclidean_distance": 8.36036, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.80544, + 0.10715, + 3.28539 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "792bca2f015c482a82fae650dd5607f5", + "path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "a59a3a61089343a8ba2834e7d3cd1066", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "refined_path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5" + ], + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "AK35CJJEYFVYK:3LJ7UR74RJGT5IGBDJLL157PYVT4NA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -0.87946, + 0.80557, + -2.81728 + ], + "start_rotation": [ + 0, + 0.99373, + 0, + -0.11179 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.45736, + "euclidean_distance": 4.30009, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.53218, + 0.80557, + -0.14241 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "cf7dde32a96d412791ca901207e4f3dd", + "path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + [ + "48a2541fc50b4a57a609698e2375e9b1" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3KKG4CDWKK18GGCHC92GJ4C6CF2494", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.34593, + 0.80557, + 3.35709 + ], + "start_rotation": [ + 0, + 0.32005, + 0, + -0.9474 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.85518, + "euclidean_distance": 4.4615, + "closest_goal_object_id": 99, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.49523, + 0.80557, + 1.11468 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39GXDJN2OVH7WOCMRDXPSYH85P38V9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.54051, + 0.00557, + -1.50003 + ], + "start_rotation": [ + 0, + 0.66808, + 0, + -0.74409 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 10.10954, + "euclidean_distance": 3.99965, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.51249, + 0.10033, + -2.20327 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "0_edge_12_newN_0", + "path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A157L6Z8QU3SDE:317HQ483I9VNDPFQY8NPV6H9I8ENIZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.03569, + 0.14876, + 5.26886 + ], + "start_rotation": [ + 0, + 0.7978, + 0, + -0.60292 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 9.06613, + "euclidean_distance": 8.51809, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.31527, + 0.80557, + 0.15778 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3634BBTX0QXBPX290K4CN180HZEFI7", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.39357, + 0.10738, + 2.27768 + ], + "start_rotation": [ + 0, + 0.97885, + 0, + -0.2046 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 11.42663, + "euclidean_distance": 8.8327, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.69434, + 0.00557, + -4.76488 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3WI0P0II63VRKCRWZ13VDT65CP0DRD", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.16746, + 0.75424, + 2.35215 + ], + "start_rotation": [ + 0, + 0.92732, + 0, + -0.37428 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.12205, + "euclidean_distance": 5.38689, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.25747, + 0.80557, + 0.14293 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "373c50dfa27649188f8e5b66c28f10a7", + "path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3M0NZ3JDP315IQYUUCFP1KKDREDZ5B", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.89065, + 0.00557, + -1.8224 + ], + "start_rotation": [ + 0, + 0.2217, + 0, + -0.97512 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 13.65612, + "euclidean_distance": 8.36128, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.76976, + 0.80557, + 0.02902 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3LJ7UR74RJGT5IGBDJLL157PY0IN4S", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.01586, + 0.00557, + 1.42722 + ], + "start_rotation": [ + 0, + 0.58712, + 0, + 0.8095 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.05286, + "euclidean_distance": 3.53572, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.55064, + 0.20557, + -1.04851 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:31Z0PCVWUMIOJI3ECD54DGXSTA0T7M", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.26364, + 0.0095, + 2.82428 + ], + "start_rotation": [ + 0, + 0.49335, + 0, + 0.86983 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.42694, + "euclidean_distance": 9.06699, + "closest_goal_object_id": 173, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.69655, + 0.00557, + -5.88944 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:379J5II41QJL9KAJQCHJXZFSPYILET", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.64331, + 0.08334, + 4.79805 + ], + "start_rotation": [ + 0, + 0.99817, + 0, + -0.06055 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 13.54952, + "euclidean_distance": 8.65384, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.04315, + 0.80557, + 3.90346 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "0_edge_43_newN_1", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753" + ], + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3BRY2LVVQGP3H:3H0W84IWBM5WCI5WVWEFJBOQE5RREK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.65056, + 0.80557, + 3.43766 + ], + "start_rotation": [ + 0, + 0.95149, + 0, + 0.30768 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 4.64659, + "euclidean_distance": 2.73525, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.81099, + 0.80557, + 2.20417 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3I2PTA7R3VXZMHI6E30ICGRQ29HKQE", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.74687, + 0.00557, + 0.97081 + ], + "start_rotation": [ + 0, + 0.90189, + 0, + 0.43197 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 9.38734, + "euclidean_distance": 5.62069, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.28718, + 0.80557, + 0.11694 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3YDGXNSEO1X82BT77HW2J8HVP5248M", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.96121, + 0.80557, + 3.85023 + ], + "start_rotation": [ + 0, + 0.94559, + 0, + 0.32537 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 6.71581, + "euclidean_distance": 4.29941, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.54698, + 0.80557, + -0.10675 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "373c50dfa27649188f8e5b66c28f10a7", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753" + ], + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3HUTX6F6VWQ1KP10AK2ANFAX7OZ2ON", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.02856, + 0.80557, + 0.26964 + ], + "start_rotation": [ + 0, + 0.49725, + 0, + 0.86761 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 20.90106, + "euclidean_distance": 11.82776, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.69034, + 0.00557, + -4.83985 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "ba19aada2e9a47839c0355085f70f7c5", + "path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "d6d4416592a0483691a1ed7d3b336a1a", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:30BUDKLTXFY77V7YYP1CGAJV35OE5Y", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.50942, + 0.00557, + 3.82579 + ], + "start_rotation": [ + 0, + 0.37497, + 0, + -0.92704 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.67512, + "euclidean_distance": 5.20684, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.70453, + 0.20557, + -0.96554 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "800eb666021c4fd2a603dc9d89b8a50d", + "path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3KYQYYSHYXAONZZG79MRJY11HOTODI", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.1704, + 0.80557, + 3.18456 + ], + "start_rotation": [ + 0, + 0.68727, + 0, + 0.7264 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.42312, + "euclidean_distance": 3.55331, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.0226, + 0.80557, + 0.22869 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3JWH6J9I9UGDQH1KSYV89JDV7HXNB9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.98944, + 0.00557, + -2.16303 + ], + "start_rotation": [ + 0, + 0.74698, + 0, + 0.66485 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 13.76138, + "euclidean_distance": 3.80479, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.69612, + 0.80557, + -0.34092 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3LPW2N6LKV5OWR4KOPGHKS5X649U5N", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.27281, + 0.00557, + 0.83958 + ], + "start_rotation": [ + 0, + 0.70453, + 0, + -0.70967 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 10.45388, + "euclidean_distance": 6.58575, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.6678, + 0.00557, + -4.68543 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3E1QT0TDFRC2AISMS6Y6D9REUOQI84", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.97694, + 0.00557, + -1.6464 + ], + "start_rotation": [ + 0, + 0.41253, + 0, + -0.91095 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.76312, + "euclidean_distance": 2.68372, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.63492, + 0.20557, + -0.9292 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3EICBYG646Z0HW25R0ZBRW2X0XOJCK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.13414, + 0.20557, + 1.36043 + ], + "start_rotation": [ + 0, + 0.67595, + 0, + -0.73695 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 17.76025, + "euclidean_distance": 14.30011, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.96829, + 0.80557, + 3.77968 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "0_edge_43_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0" + ], + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "AOWW3URQNRJ6U:3OSWBBLG1G0BH8D8809N2BSTFF5XDX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.92877, + 0.80557, + 4.9401 + ], + "start_rotation": [ + 0, + 0.6479, + 0, + -0.76172 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.26095, + "euclidean_distance": 5.00419, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.0591, + 0.80557, + 0.3846 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2" + ] + ] + }, + { + "episode_id": "A272X64FOZFYLB:31T4R4OBOUJ7X113QRAEO6XO5O6C7S", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.78076, + 0.00557, + 2.72644 + ], + "start_rotation": [ + 0, + 0.81933, + 0, + -0.57333 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 11.10381, + "euclidean_distance": 9.36484, + "closest_goal_object_id": 162, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.67106, + 0.00557, + -6.10515 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3LS2AMNW5HTIC83LCVSBJX8ZIQ6OQ1", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.94621, + 0.05714, + 2.13774 + ], + "start_rotation": [ + 0, + 0.76863, + 0, + -0.6397 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.06881, + "euclidean_distance": 5.91169, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.76995, + 0.80557, + -0.28626 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:34QN5IT0T1UR3NB6OG9075RIBU108M", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.85625, + 0.91055, + 1.32091 + ], + "start_rotation": [ + 0, + 0.29955, + 0, + -0.95408 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 2.48073, + "euclidean_distance": 1.87283, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.86148, + 0.80557, + 2.05298 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "48a2541fc50b4a57a609698e2375e9b1", + "path": [ + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3BF51CHDTXDKWYCZRK36KIKHECB0HJ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.64681, + 0.1795, + 3.56828 + ], + "start_rotation": [ + 0, + 0.99607, + 0, + -0.08855 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.17319, + "euclidean_distance": 7.27662, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.29354, + 0.80557, + 0.23195 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3XIQGXAUMEBV0ZCYHN612JIY7NW7XQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.01542, + 0.02085, + 3.47721 + ], + "start_rotation": [ + 0, + 0.59379, + 0, + 0.80462 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.1615, + "euclidean_distance": 4.50559, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.64858, + 0.20557, + -0.06322 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3RXCAC0YITSOERMR2IY3SXEXZHKG8Q", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.49274, + 0.80557, + 3.11321 + ], + "start_rotation": [ + 0, + 0.89116, + 0, + -0.45369 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.67904, + "euclidean_distance": 3.50677, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.04477, + 0.80557, + 3.89227 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + [ + "0_edge_44_newN_0" + ], + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A16184N1RO5OJV:33F859I568GLGLF9P00V4ZG02HSHB5", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.82511, + 0.00557, + 2.16753 + ], + "start_rotation": [ + 0, + 0.61782, + 0, + -0.78632 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 10.29673, + "euclidean_distance": 8.24751, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.87906, + 0.00557, + -4.93383 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A31BA1WLSWUSY1:3A1COHJ8NLY2ENH2MOGLDXQYGZO8HA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.08315, + 0.1271, + 3.51599 + ], + "start_rotation": [ + 0, + 0.91889, + 0, + -0.39452 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.3079, + "euclidean_distance": 11.04044, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.92766, + 0.80557, + 3.91865 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "a59a3a61089343a8ba2834e7d3cd1066", + "0_edge_43_newN_1", + "0_edge_75_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A35CL66BEUSJ5Z:3IXQG4FA2V1S1FXQROC3RIICM47B9Z", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.8781, + 0.14337, + 2.9198 + ], + "start_rotation": [ + 0, + 0.27422, + 0, + 0.96167 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.82182, + "euclidean_distance": 4.08682, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.7253, + 0.80557, + 0.18664 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0" + ], + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3ZSANO2JCHA0JB555WYQR3EMC7ASFA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.52287, + 0.80557, + -0.02213 + ], + "start_rotation": [ + 0, + 0.93681, + 0, + 0.34984 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.9861, + "euclidean_distance": 1.83481, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.39381, + 0.80557, + -1.3774 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "0_edge_29_newN_0" + ] + ] + }, + { + "episode_id": "A1198W1SPF1R4:3Y54SXRO1NOQHTFAPLYFN8BC2W9UTO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.56248, + 0.20557, + -0.62096 + ], + "start_rotation": [ + 0, + 0.85134, + 0, + 0.52462 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 4.96785, + "euclidean_distance": 3.98863, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.03345, + 0.00557, + -4.36425 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "97739a403b984dcd8253741a073b18dd", + "path": [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + [ + "97739a403b984dcd8253741a073b18dd" + ], + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3A7Y0R2P2QROKUD0IWVY59N7YJ0XJT", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.78428, + 0.00557, + -0.41932 + ], + "start_rotation": [ + 0, + 0.86105, + 0, + 0.50852 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.26417, + "euclidean_distance": 3.48159, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.86347, + 0.00557, + 1.32475 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "a59a3a61089343a8ba2834e7d3cd1066", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:32EYX73OY2CD1E2ILWTKNTAUEBAUR9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.69891, + 0.18352, + 4.1512 + ], + "start_rotation": [ + 0, + 0.09394, + 0, + 0.99558 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.70279, + "euclidean_distance": 4.87513, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.96994, + 0.80557, + 0.17413 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3PB5A5BD0X9KEDH8SD6XEXI37UP7GK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.97088, + 0.00557, + -1.82732 + ], + "start_rotation": [ + 0, + 0.66358, + 0, + -0.7481 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 12.03057, + "euclidean_distance": 6.51524, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.74586, + 0.80557, + 0.18856 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3YDTZAI2WZJQRB9M8WNN4YUNYRG14Q", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.75, + 0.80557, + -0.69161 + ], + "start_rotation": [ + 0, + 0.29382, + 0, + 0.95586 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.96001, + "euclidean_distance": 9.80023, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.70539, + 0.0961, + 3.30776 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "0_edge_33_newN_0", + "path": [ + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "refined_path": [ + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3NC5L260MQPLLJDCYFHH7Y4MW0MOF7", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.01894, + 0.00557, + 1.83787 + ], + "start_rotation": [ + 0, + 0.36021, + 0, + 0.93287 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.76915, + "euclidean_distance": 8.18933, + "closest_goal_object_id": 173, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.60662, + 0.00557, + -5.8214 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:3ZPBJO59KR4EVIDT3WR1ZP4ZRDPDHZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.59665, + 0.19633, + 4.24808 + ], + "start_rotation": [ + 0, + 0.98158, + 0, + -0.19107 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.68103, + "euclidean_distance": 7.57396, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.22925, + 0.80557, + 0.12808 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3DEL4X4EL8OEFJ8Z4WW1FW2UVL4YXX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.42929, + 0.00557, + -4.52432 + ], + "start_rotation": [ + 0, + 0.80292, + 0, + 0.59608 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 19.96539, + "euclidean_distance": 12.53471, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.66264, + 0.80557, + 0.09401 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "8554983cf79243f6bfb0f6fa8950e8a5", + "path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "0_edge_33_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3WMOAN2SRD0SZVZQXFM8AV73RQDNVW", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.11357, + 0.80557, + 3.98601 + ], + "start_rotation": [ + 0, + 0.21245, + 0, + 0.97717 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.84364, + "euclidean_distance": 4.60781, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.71743, + 0.80557, + 0.10007 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + [ + "c9ac0c98d16a4105a3214989cac149c0" + ], + "7980b9f903164d48aaee2dbeb5615796", + [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0" + ], + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:323Q6SJS8KJBT2RPU2MRNP7LKE7FH9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.0678, + 0.06815, + 4.10504 + ], + "start_rotation": [ + 0, + 0.10712, + 0, + -0.99425 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.57805, + "euclidean_distance": 7.13846, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.38618, + 0.00557, + -2.1967 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:34BBWHLWHCED0JO4Q9ECRPUZY9QIWS", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.46893, + 0.80557, + 2.78829 + ], + "start_rotation": [ + 0, + 0.89959, + 0, + 0.43674 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.05391, + "euclidean_distance": 3.17976, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.41909, + 0.80557, + -0.08433 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3C5W7UE9CHTEL2JLLT8QL1FNOTFXMX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.92907, + 0.11231, + 3.12677 + ], + "start_rotation": [ + 0, + 0.76088, + 0, + 0.64889 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.18311, + "euclidean_distance": 3.73083, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.65055, + 0.20557, + -0.14919 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A3H0J7KPSIRZ7H:30JNVC0ORBN8KRHY8IXLZOBZONGQHP", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.46681, + 0.00557, + -1.63919 + ], + "start_rotation": [ + 0, + 0.92094, + 0, + 0.3897 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.16938, + "euclidean_distance": 3.42013, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.64349, + 0.20557, + -0.2653 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3TYCR1GOTEMJKF1FMZVWI9G9WNXZL2", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.44295, + 0.00557, + -4.37113 + ], + "start_rotation": [ + 0, + 0.98978, + 0, + -0.14261 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.87217, + "euclidean_distance": 2.04145, + "closest_goal_object_id": 212, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.94275, + 0.00557, + -2.82677 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3M23Y66PO4A40ICU43VMXX19HVUS62", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.13111, + 0.00557, + 1.03777 + ], + "start_rotation": [ + 0, + 0.16982, + 0, + 0.98547 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.13612, + "euclidean_distance": 6.43512, + "closest_goal_object_id": 98, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.14862, + 0.80557, + 4.95598 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:32RIADZISU7QLV8GLF270ZHW1Q5S4O", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.46423, + 0.00557, + -0.87043 + ], + "start_rotation": [ + 0, + 0.99736, + 0, + 0.07255 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 12.18572, + "euclidean_distance": 4.06209, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.56935, + 0.80557, + -0.19762 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3WETL7AQWVB4XXR195KGXJFYCGM53M", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.71201, + 0.20557, + -0.58832 + ], + "start_rotation": [ + 0, + 0.58747, + 0, + -0.80925 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 4.8057, + "euclidean_distance": 4.60284, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.84753, + 0.00557, + -4.97015 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "97739a403b984dcd8253741a073b18dd", + "path": [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + [ + "97739a403b984dcd8253741a073b18dd" + ], + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A16184N1RO5OJV:3IXQG4FA2V1S1FXQROC3RIICJ4VB9K", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.94552, + 0.80557, + 3.55156 + ], + "start_rotation": [ + 0, + 0.90301, + 0, + -0.42962 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.29114, + "euclidean_distance": 3.7476, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.17333, + 0.80557, + 0.20704 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0" + ], + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3OS4RQUCRBI12PO3UACV1E4N9SQFBJ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.72947, + 0.18109, + 5.28389 + ], + "start_rotation": [ + 0, + 0.90346, + 0, + 0.42867 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.06638, + "euclidean_distance": 7.33707, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.68944, + 0.20557, + -0.21176 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3V0Z7YWSI03WA9AXBWOOI74428S2V0", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.77704, + 0.00557, + -1.06193 + ], + "start_rotation": [ + 0, + 0.68, + 0, + 0.73321 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 13.49235, + "euclidean_distance": 6.19498, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.98029, + 0.00557, + -4.37277 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A3F90N8YVKJ4I7:36WLNQG781D9WBO7ZZSPJWJND43EBY", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.59664, + 0.02746, + 2.45972 + ], + "start_rotation": [ + 0, + 0.79352, + 0, + 0.60854 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.32582, + "euclidean_distance": 3.34045, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.59171, + 0.20557, + -0.19769 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "0_edge_17_newN_1", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:39RP059MEJW78ZGKGXG8W4OWJ2RBM6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.81207, + 0.80557, + 4.85574 + ], + "start_rotation": [ + 0, + 0.94462, + 0, + 0.32816 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.089, + "euclidean_distance": 0.96941, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.49206, + 0.80557, + 4.05101 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3TDXMTX3CDXF649YZR18TVVNBLWI6L", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.8381, + 0.80557, + -0.31139 + ], + "start_rotation": [ + 0, + 0.24862, + 0, + 0.9686 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.57337, + "euclidean_distance": 9.57379, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.69714, + 0.09399, + 3.29123 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "0_edge_33_newN_0", + "path": [ + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "refined_path": [ + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3180JW2OT6FFIBTQCQC3DQWN8C6J58", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.84464, + 0.80557, + 5.02593 + ], + "start_rotation": [ + 0, + 0.37487, + 0, + -0.92708 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 6.42587, + "euclidean_distance": 5.7806, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.7459, + 0.80557, + -0.44029 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:38BQUHLA9Y3RRT5TK2LU2OOVT2BMOR", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.78294, + 0.00557, + -1.31122 + ], + "start_rotation": [ + 0, + 0.36135, + 0, + -0.93243 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 10.37567, + "euclidean_distance": 4.80607, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.586, + 0.20557, + -1.008 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3NC5L260MQPLLJDCYFHH7Y4MW4LFO5", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.75402, + 0.80557, + 3.12819 + ], + "start_rotation": [ + 0, + 0.80607, + 0, + 0.59182 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.18783, + "euclidean_distance": 3.68841, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.67707, + 0.80557, + 0.15629 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3WMINLGALD6PG3Z1XUMYYXZE778AC0", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.40521, + 0.80557, + 2.74012 + ], + "start_rotation": [ + 0, + 0.99823, + 0, + 0.0595 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.10705, + "euclidean_distance": 3.54324, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.61354, + 0.80557, + 0.03675 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3QJOXOW4XLU5F2S4QOIYXCUG8JSMET", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.60958, + 0.80557, + 4.48841 + ], + "start_rotation": [ + 0, + 0.84076, + 0, + 0.54141 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.68831, + "euclidean_distance": 4.47419, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.73311, + 0.80557, + 0.08376 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:33CID57106WIZMUM1S0NE8BVY9ZL39", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.59445, + 0.00557, + 1.74854 + ], + "start_rotation": [ + 0, + 0.38799, + 0, + -0.92166 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.63443, + "euclidean_distance": 2.80311, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.57527, + 0.20557, + -0.26439 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "0_edge_17_newN_1", + "path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3OSWBBLG1G0BH8D8809N2BSUTSJDXX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.01465, + 0.80557, + 3.5763 + ], + "start_rotation": [ + 0, + 0.68885, + 0, + -0.72491 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 6.97581, + "euclidean_distance": 5.91127, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.75883, + 0.80557, + 0.0203 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "d2600c4cac6445a7b7f0eef51a074043", + "path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:3R8YZBNQ9JLBR2BMV9B98BM5AE37QB", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.16422, + 0.00557, + 0.22942 + ], + "start_rotation": [ + 0, + 0.72811, + 0, + -0.68546 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 12.21406, + "euclidean_distance": 2.53472, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.65675, + 0.80557, + 0.01988 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "0_edge_13_newN_0", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3VW04L3ZLV9PFEIPZ0AZWIVLVSCXXK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.37944, + 0.00651, + 4.36213 + ], + "start_rotation": [ + 0, + 0.70028, + 0, + 0.71386 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.96271, + "euclidean_distance": 6.24895, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.5922, + 0.20557, + -0.95016 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:351SEKWQS2K0NWE4UT7ERUCWMT7DMV", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.8295, + 0.0475, + 2.31991 + ], + "start_rotation": [ + 0, + 0.84915, + 0, + -0.52816 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 11.37905, + "euclidean_distance": 9.37506, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.74323, + 0.80557, + 0.14591 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "0_edge_17_newN_1", + "path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:337RC3OW0752BVW5L26TX33D4DGLVB", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.85359, + 0.00557, + 0.58859 + ], + "start_rotation": [ + 0, + 0.13113, + 0, + -0.99137 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 9.66298, + "euclidean_distance": 5.68471, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.32544, + 0.80557, + 0.12884 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3IXQG4FA2V1S1FXQROC3RIICITJ9BJ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.86807, + 0.00557, + 3.34527 + ], + "start_rotation": [ + 0, + 0.80448, + 0, + -0.59398 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.9569, + "euclidean_distance": 9.67449, + "closest_goal_object_id": 173, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.64997, + 0.00557, + -5.9693 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:36U2A8VAG328VJ9S5DHCP2UTFXTKYM", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.36274, + 0.00557, + -0.21484 + ], + "start_rotation": [ + 0, + 0.2158, + 0, + -0.97644 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.80524, + "euclidean_distance": 3.77059, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.69002, + 0.80557, + -0.32341 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:3RGU30DZTCBDQIEW4PTPUS79R8DMJH", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.97827, + 0.80557, + 4.82623 + ], + "start_rotation": [ + 0, + 0.75589, + 0, + 0.65469 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.46165, + "euclidean_distance": 4.60458, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.84163, + 0.80557, + 0.14167 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A2KOR4003SVNC5:3VHP9MDGRPNKCUG98A8QCYA54NGFCD", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.57536, + 0.08143, + 3.41764 + ], + "start_rotation": [ + 0, + 0.38044, + 0, + 0.92481 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.37089, + "euclidean_distance": 5.10875, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.72943, + 0.80557, + 0.07779 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:32KTQ2V7RFIOK61NID2C5YT6Y789MR", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.27757, + 0.23366, + 3.09967 + ], + "start_rotation": [ + 0, + 0.80263, + 0, + -0.59648 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.5882, + "euclidean_distance": 10.16953, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.76236, + 0.00557, + -4.69059 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3AQF3RZ55ALVWD78YJVNQYIV8CA6F3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.85712, + 0.80557, + 5.14317 + ], + "start_rotation": [ + 0, + 0.7711, + 0, + 0.63671 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 15.5527, + "euclidean_distance": 13.31645, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.72057, + 0.00557, + -4.67337 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "4547d37b305e41bdad0de45ade6971ca", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "4547d37b305e41bdad0de45ade6971ca", + [ + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3C2NJ6JBKCKJ241O952X8QASXQDN2G", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.42914, + 0.80557, + 4.73773 + ], + "start_rotation": [ + 0, + 0.50419, + 0, + 0.86359 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.29065, + "euclidean_distance": 3.46914, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.05488, + 0.80557, + 3.86132 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + [ + "0_edge_44_newN_0" + ], + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3CFVK00FWNOHW5H4KUYLLBNEPW0L6L", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.28025, + 0.80557, + 5.01052 + ], + "start_rotation": [ + 0, + 0.56017, + 0, + -0.82837 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.25821, + "euclidean_distance": 4.87996, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.04754, + 0.80557, + 0.35021 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3QRYMNZ7F0KDM3V1SKMT9DJHE4ATNF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.68109, + 0.00557, + -2.44817 + ], + "start_rotation": [ + 0, + 0.32509, + 0, + -0.94568 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 20.64624, + "euclidean_distance": 15.02937, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.05077, + 0.80557, + 3.82223 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "0_edge_43_newN_1", + "path": [ + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3P59JYT76NNHXH6861O9HPGKIUK2TL", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.1837, + 0.00557, + -0.48956 + ], + "start_rotation": [ + 0, + 0.14323, + 0, + 0.98969 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 12.53936, + "euclidean_distance": 5.95282, + "closest_goal_object_id": 173, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.6564, + 0.00557, + -5.79385 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_12_newN_0", + "path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:31Z0PCVWUMIOJI3ECD54DGXRGZS7TR", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.89008, + 0.80557, + 4.94192 + ], + "start_rotation": [ + 0, + 0.14472, + 0, + -0.98947 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.12105, + "euclidean_distance": 1.06399, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.19451, + 0.80557, + 3.88697 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:35USIKEBNTJ7K5KPW7E0Y3R4A14N6V", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.39613, + 0.80557, + -1.14473 + ], + "start_rotation": [ + 0, + 0.72306, + 0, + -0.69079 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 13.22145, + "euclidean_distance": 11.95268, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.66691, + 0.09082, + 3.30048 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "0_edge_33_newN_2", + "path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "0_edge_33_newN_0", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:345LHZDEDZVLICHGA6SO5V7EB0X3UQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.66863, + 0.56548, + 2.04973 + ], + "start_rotation": [ + 0, + 0.47976, + 0, + -0.8774 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.72043, + "euclidean_distance": 1.62991, + "closest_goal_object_id": 138, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 6.98963, + 0.07788, + 1.31164 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "373c50dfa27649188f8e5b66c28f10a7", + "path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "refined_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3BDCF01OGZXJFPRAQDTD42787AMLY7", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.00452, + 0.20557, + 1.1354 + ], + "start_rotation": [ + 0, + 0.32329, + 0, + -0.9463 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.97106, + "euclidean_distance": 13.23537, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.03358, + 0.80557, + 3.71677 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + [ + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3IAEQB9FMGNWS88IYVD10SENKXEWD2", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.75357, + 0.00557, + -3.14027 + ], + "start_rotation": [ + 0, + 0.99994, + 0, + 0.01133 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.48355, + "euclidean_distance": 4.06306, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.67852, + 0.20557, + -0.19165 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3WMOAN2SRD0SZVZQXFM8AV73QA6VN0", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.66452, + 0.00557, + 1.7514 + ], + "start_rotation": [ + 0, + 0.33023, + 0, + 0.9439 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.67302, + "euclidean_distance": 4.82458, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.44332, + 0.00557, + -2.23478 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "0_edge_17_newN_1", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3DBQWDE4Y81B11KBRO4V6XD3YWFN5Z", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.74475, + 0.00557, + -1.23772 + ], + "start_rotation": [ + 0, + 0.90436, + 0, + 0.42676 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.46861, + "euclidean_distance": 2.84692, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.67912, + 0.20557, + -0.86295 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "0_edge_12_newN_0", + "path": [ + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3GLB5JMZFZY0VMIIJQ9JEPSZPRGGDE", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.44261, + 0.00557, + -1.18107 + ], + "start_rotation": [ + 0, + 0.0195, + 0, + 0.99981 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 9.52199, + "euclidean_distance": 3.19692, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.34309, + 0.00557, + -2.07195 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A3F90N8YVKJ4I7:3RKNTXVS3O1MLZMM4FGGFZNQIXI4AH", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.69228, + 0.00557, + -0.0156 + ], + "start_rotation": [ + 0, + 0.03685, + 0, + -0.99932 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.27175, + "euclidean_distance": 4.88778, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.60014, + 0.20557, + -0.31346 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3LYA37P8ISQCIBGHVL3SHRWRGGSBKJ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.74099, + 0.80557, + -0.66365 + ], + "start_rotation": [ + 0, + 0.99692, + 0, + -0.07846 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 1.52657, + "euclidean_distance": 1.44317, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.75508, + 0.80557, + 0.22532 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "d6d4416592a0483691a1ed7d3b336a1a", + "path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3KOPY89HMA5C4W6MY7OAYTY3RSP3JX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.53863, + 0.00557, + 3.55895 + ], + "start_rotation": [ + 0, + 0.14577, + 0, + -0.98932 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 10.5152, + "euclidean_distance": 9.32441, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.7687, + 0.00557, + -4.75872 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3HVVDCPGTGV7Y2ZFZMV4QTHOIJ3YTP", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.71775, + 0.00557, + -2.5037 + ], + "start_rotation": [ + 0, + 0.1576, + 0, + 0.9875 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.69513, + "euclidean_distance": 6.04946, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.63783, + 0.20557, + -1.02282 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_72_newN_0", + "0_edge_78_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0" + ], + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A272X64FOZFYLB:31LM9EDVONVJ80ZWGQ8P77W8ILUJNF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.46048, + 0.03409, + 2.82398 + ], + "start_rotation": [ + 0, + 0.94574, + 0, + 0.32493 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.96149, + "euclidean_distance": 9.16192, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.71985, + 0.80557, + 0.11133 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + [ + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3OHYZ19UGE8QPSW4NZVPTXTUIW6OAW", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.80615, + 0.00557, + -3.04615 + ], + "start_rotation": [ + 0, + 0.04324, + 0, + 0.99906 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 11.35585, + "euclidean_distance": 2.82091, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.44063, + 0.00557, + -2.27528 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3E4GGUZ1TAUIUYGLCSAHGYTO0XP2K8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.94587, + 0.00557, + -0.78409 + ], + "start_rotation": [ + 0, + 0.97551, + 0, + -0.21996 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 12.87193, + "euclidean_distance": 9.24199, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.77487, + 0.80557, + -0.01497 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3G5F9DBFOR00PZDFUHRV5BA75ANHVS", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.47632, + 0.80557, + -1.1259 + ], + "start_rotation": [ + 0, + 0.99932, + 0, + -0.03691 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 1.88483, + "euclidean_distance": 1.71295, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.78106, + 0.80557, + 0.022 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "d6d4416592a0483691a1ed7d3b336a1a", + "path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3EFVCAY5L5CY5TCSAOJ6PA6EA2QJ8T", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.89505, + 0.01312, + 3.99176 + ], + "start_rotation": [ + 0, + 0.97699, + 0, + -0.21326 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.341, + "euclidean_distance": 6.31448, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.44183, + 0.01455, + -2.17798 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "800eb666021c4fd2a603dc9d89b8a50d", + "path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3WYP994K19U1W4O339NBFJPB1256YM", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.45025, + 0.18163, + 2.40561 + ], + "start_rotation": [ + 0, + 0.54029, + 0, + 0.84148 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.36688, + "euclidean_distance": 9.5259, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.74679, + 0.00557, + -4.63224 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "0_edge_78_newN_0", + "path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:38YMOXR4MW2X7ZT3O85NUM4V3496WO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.77739, + 0.07249, + 1.32913 + ], + "start_rotation": [ + 0, + 0.93933, + 0, + -0.34302 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.50713, + "euclidean_distance": 7.07567, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.92563, + 0.00557, + -4.30937 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3UN61F00HYSWGZC3KVLCFHIEFTC5RV", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.67725, + 0.08159, + 3.18202 + ], + "start_rotation": [ + 0, + 0.36361, + 0, + -0.93155 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.4507, + "euclidean_distance": 8.67498, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.95956, + 0.00557, + -4.23646 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3QRYMNZ7F0KDM3V1SKMT9DJIU00TNF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.33092, + 0.00557, + -1.60369 + ], + "start_rotation": [ + 0, + 0.98271, + 0, + 0.18517 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.03225, + "euclidean_distance": 3.18135, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.76587, + 0.80557, + 0.08519 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2GQH4SWIOFH2L:3NAPMVF0ZYIUZJ91TYL8CTO2UEP274", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.05151, + 0.80557, + 4.49032 + ], + "start_rotation": [ + 0, + 0.97246, + 0, + 0.23306 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.95439, + "euclidean_distance": 5.66047, + "closest_goal_object_id": 99, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.41784, + 0.80557, + 1.16494 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39GXDJN2OVH7WOCMRDXPSYH7M4GV8I", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.83738, + 0.80557, + 3.41703 + ], + "start_rotation": [ + 0, + 0.62436, + 0, + -0.78113 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.31629, + "euclidean_distance": 5.62536, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.29263, + 0.80557, + 0.12663 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3AQF3RZ55ALVWD78YJVNQYIV87P6F8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.03944, + 0.00557, + -2.82648 + ], + "start_rotation": [ + 0, + 0.29393, + 0, + 0.95583 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.11768, + "euclidean_distance": 3.63935, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.6752, + 0.20557, + -0.14573 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3IFS6Q0HJKMKT27V644BU0RF9MISIA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -0.77903, + 0.80557, + -1.961 + ], + "start_rotation": [ + 0, + 0.56538, + 0, + 0.82483 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 13.73818, + "euclidean_distance": 11.7172, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.66827, + 0.09143, + 3.3073 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "cf7dde32a96d412791ca901207e4f3dd", + "path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "1eac2c379ebf4e059f4a35e584f82f9b", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1" + ], + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:3W8CV64QJ422SS0CRGMZDTL9Y7IH9M", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.56097, + 0.00557, + 0.51893 + ], + "start_rotation": [ + 0, + 0.48167, + 0, + -0.87635 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.10093, + "euclidean_distance": 4.07471, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.71064, + 0.80557, + -0.39174 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3WQQ9FUS6CXSNAEGMW6PRMN0LL18BA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.25253, + 0.00557, + -2.06165 + ], + "start_rotation": [ + 0, + 0.98752, + 0, + 0.15747 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 13.05363, + "euclidean_distance": 7.80358, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.72767, + 0.80557, + -0.07769 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "a59a3a61089343a8ba2834e7d3cd1066", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3LOTDFNYA92TQSMEP18ROSH8W21WF4", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.60812, + 0.80557, + -0.00046 + ], + "start_rotation": [ + 0, + 0.55121, + 0, + 0.83436 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.07382, + "euclidean_distance": 1.9055, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.3813, + 0.80557, + -1.47942 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "1eac2c379ebf4e059f4a35e584f82f9b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca" + ] + }, + { + "episode_id": "A13WYZ8AXD6ODX:3DBQWDE4Y81B11KBRO4V6XD4DM45N3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.20917, + 0.25568, + 2.95786 + ], + "start_rotation": [ + 0, + 0.99603, + 0, + 0.089 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.75764, + "euclidean_distance": 6.60856, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.28462, + 0.80557, + 0.27083 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A272X64FOZFYLB:36V4Q8R5ZM3UC5I9ZFDYRTJUP9EMQB", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.24074, + 0.23341, + 2.85433 + ], + "start_rotation": [ + 0, + 0.62026, + 0, + 0.78439 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.70527, + "euclidean_distance": 6.15799, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.63684, + 0.20557, + -0.16599 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753" + ], + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3U8YCDAGXRJX9RB2AAQ0TWCI50SQ0S", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.52598, + 0.00557, + 1.65965 + ], + "start_rotation": [ + 0, + 0.82368, + 0, + 0.56706 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.86318, + "euclidean_distance": 6.48066, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.02269, + 0.00557, + -4.2952 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3NVC2EB65S22ZL1LK7PD8GDR7KKY3N", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.50973, + 0.80557, + 3.39673 + ], + "start_rotation": [ + 0, + 0.6063, + 0, + -0.79523 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 4.92483, + "euclidean_distance": 4.02596, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.74818, + 0.80557, + -0.43397 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + [ + "3da7e4f299e74a429ca5d336deb2a96f" + ], + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3WAKVUDHUYJ3JVI3CIVEICJTXCR7U6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.53023, + 0.80557, + -2.53908 + ], + "start_rotation": [ + 0, + 0.99983, + 0, + 0.01846 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 14.47197, + "euclidean_distance": 12.64619, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.7041, + 0.09705, + 3.32494 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "cf7dde32a96d412791ca901207e4f3dd", + "path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "refined_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ] + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3ZV9H2YQQFAYAG6L567PNJSBTD23WA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.67377, + 0.80557, + 3.75675 + ], + "start_rotation": [ + 0, + 0.7814, + 0, + -0.62403 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.17489, + "euclidean_distance": 3.81203, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.02591, + 0.80557, + 0.37092 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3E1QT0TDFRC2AISMS6Y6D9REXNZI8E", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.39709, + 0.01615, + 1.96586 + ], + "start_rotation": [ + 0, + 0.98128, + 0, + 0.19259 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.6757, + "euclidean_distance": 5.80983, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.42599, + 0.00557, + -2.25792 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3QUO65DNQWRA41A2T4CGTY5P3TJUO3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.89883, + 0.00557, + -1.92512 + ], + "start_rotation": [ + 0, + 0.04181, + 0, + -0.99913 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 12.10252, + "euclidean_distance": 6.47539, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.73552, + 0.80557, + -0.01361 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_72_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + [ + "04135640920a4ba2b7dc68c679c43903" + ], + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0" + ], + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3E13VNJ1NPYKZI81TLPRYZ46GIZI1Z", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.04605, + 0.00557, + -1.99849 + ], + "start_rotation": [ + 0, + 0.40785, + 0, + 0.91305 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 12.42966, + "euclidean_distance": 3.79186, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.88176, + 0.00557, + -4.26213 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3HOSI13XH1RXJ28RH08B84P1XFLDD1", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.13175, + 0.04027, + 1.69899 + ], + "start_rotation": [ + 0, + 0.05226, + 0, + -0.99863 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.91457, + "euclidean_distance": 3.94393, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.67914, + 0.20557, + -0.09978 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:369J354OFFD1AD3393158JI6TLB6G9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.77087, + 0.00557, + -1.80483 + ], + "start_rotation": [ + 0, + 0.12546, + 0, + -0.9921 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.70366, + "euclidean_distance": 5.06266, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.92407, + 0.00557, + 1.18012 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "1eac2c379ebf4e059f4a35e584f82f9b", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_75_newN_1" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + [ + "04135640920a4ba2b7dc68c679c43903" + ], + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ] + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3FFJ6VRIL3RKSTNJX2LRKULWBXPI06", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.80424, + 0.80557, + 3.78019 + ], + "start_rotation": [ + 0, + 0.8098, + 0, + 0.5867 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 15.18152, + "euclidean_distance": 12.37105, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.70585, + 0.00557, + -4.7848 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "6ab11272308c46068c9ae583da8ff311", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A16184N1RO5OJV:37QW5D2ZRIPR4WVIXISKHBX13N4S8K", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.41741, + 0.80557, + 3.13201 + ], + "start_rotation": [ + 0, + 0.91294, + 0, + -0.40809 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.34113, + "euclidean_distance": 4.11215, + "closest_goal_object_id": 138, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 7.0844, + 0.06618, + 1.27067 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:34V1S5K3GU4MV3GVVXVVG2WK83869L", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.94776, + 0.09594, + 2.83859 + ], + "start_rotation": [ + 0, + 0.45063, + 0, + -0.89271 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 9.21206, + "euclidean_distance": 8.39572, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.81684, + 0.00557, + -5.11752 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3JV9LGBJWVHRZJ979ZNZPJ4YT54GOS", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.93632, + 0.00557, + 0.96018 + ], + "start_rotation": [ + 0, + 0.81287, + 0, + -0.58245 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 11.29528, + "euclidean_distance": 5.58118, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.58195, + 0.80557, + -0.22589 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:35H6S234SC33UGEJS7IE4MRIJCM65Y", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.52304, + 0.00557, + -0.61772 + ], + "start_rotation": [ + 0, + 0.63161, + 0, + -0.77529 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 12.52325, + "euclidean_distance": 8.80895, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.7231, + 0.80557, + 0.14334 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "0_edge_12_newN_0", + "path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3DOCMVPBTPHFRQQHVO0H0EDPPOFNN3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.59181, + 0.00557, + 0.14113 + ], + "start_rotation": [ + 0, + 0.80703, + 0, + 0.59052 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.71965, + "euclidean_distance": 3.42008, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.72705, + 0.00557, + 1.40104 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_78_newN_0", + "0_edge_43_newN_1", + "30cdb6fe9aa6449788e271f2e24d76ec" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0" + ], + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3WEV0KO0OOV3LRR9EQ3033B2HD3SDT", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.3311, + 0.00557, + -0.7965 + ], + "start_rotation": [ + 0, + 0.3617, + 0, + -0.93229 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 11.19443, + "euclidean_distance": 4.44309, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.96149, + 0.00557, + -4.22321 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "0_edge_12_newN_0", + "path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A31BA1WLSWUSY1:3G5F9DBFOR00PZDFUHRV5BA7SZGHVM", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.32396, + 0.80557, + 1.96111 + ], + "start_rotation": [ + 0, + 0.9195, + 0, + 0.39309 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.25781, + "euclidean_distance": 11.13211, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.6843, + 0.08551, + 3.18523 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "6ab11272308c46068c9ae583da8ff311", + "path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "0_edge_33_newN_0", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3X1FV8S5JZUMP3I4AB9DKBY6PYHGVA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.07948, + 0.00557, + 1.06828 + ], + "start_rotation": [ + 0, + 0.65947, + 0, + 0.75173 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.33866, + "euclidean_distance": 4.02835, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.32192, + 0.00557, + -2.12167 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:32UTUBMZ7IZQYMATUPHZJ079DVFBV2", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.89189, + 0.06208, + 2.39557 + ], + "start_rotation": [ + 0, + 0.99091, + 0, + -0.13455 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.95363, + "euclidean_distance": 5.98121, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.66094, + 0.80557, + -0.32357 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3AWETUDC94VHUET91WYJQTOHDS6ZI7", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 14.13473, + 0.20557, + 1.4133 + ], + "start_rotation": [ + 0, + 0.36373, + 0, + 0.9315 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.65964, + "euclidean_distance": 1.37182, + "closest_goal_object_id": 218, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 13.4895, + 0.20557, + 0.23439 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3Y4W8Q93L1NJDJ8D8L85EQV9GJPVDX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.11899, + 0.80557, + 4.12276 + ], + "start_rotation": [ + 0, + 0.45662, + 0, + -0.88966 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.751, + "euclidean_distance": 4.33366, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.01977, + 0.80557, + 0.30202 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3Z7EFSHGNBH1CG7U84ECI5ACBSWXC9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.91979, + 0.20557, + 1.55012 + ], + "start_rotation": [ + 0, + 0.97567, + 0, + -0.21925 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.51637, + "euclidean_distance": 1.42067, + "closest_goal_object_id": 218, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 13.46266, + 0.20557, + 0.29223 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3A7Y0R2P2QROKUD0IWVY59N71F7XJV", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.3555, + 0.00557, + -2.33908 + ], + "start_rotation": [ + 0, + 0.14664, + 0, + -0.98919 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 10.31895, + "euclidean_distance": 5.63423, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.71632, + 0.20557, + -0.14987 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3GNA64GUZG7W4YX37GWCAR89M9F5Q6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.95481, + 0.11952, + 3.18827 + ], + "start_rotation": [ + 0, + 0.78482, + 0, + -0.61972 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 9.40247, + "euclidean_distance": 8.72323, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.85926, + 0.00557, + -4.95828 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A101U3FTZYY87V:3LRKMWOKB7KDJTF7CTDR3DH1401Z2E", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.64909, + 0.80557, + 0.13377 + ], + "start_rotation": [ + 0, + 0.84965, + 0, + 0.52735 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.15191, + "euclidean_distance": 2.03539, + "closest_goal_object_id": 17, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.42343, + 0.80557, + -1.57161 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "1eac2c379ebf4e059f4a35e584f82f9b", + "path": [ + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "refined_path": [ + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "0_edge_29_newN_0" + ] + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3C2NJ6JBKCKJ241O952X8QASUN62NF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.05702, + 0.00557, + -2.74286 + ], + "start_rotation": [ + 0, + 0.74915, + 0, + -0.6624 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 13.15666, + "euclidean_distance": 3.38061, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.92192, + 0.00557, + -4.25385 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A75XDPFNICR3T:37Q970SNZGB9TWBXYXJ521ATO5TS16", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.50814, + 0.20701, + 4.35173 + ], + "start_rotation": [ + 0, + 0.76647, + 0, + -0.64228 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 9.72712, + "euclidean_distance": 6.0748, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.59088, + 0.80557, + -0.18289 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3C5W7UE9CHTEL2JLLT8QL1FO1V7XM8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.09758, + 0.14171, + 4.92534 + ], + "start_rotation": [ + 0, + 0.92299, + 0, + -0.38482 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 9.07821, + "euclidean_distance": 8.36839, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.31494, + 0.80557, + 0.13116 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "AK35CJJEYFVYK:3HOSI13XH1RXJ28RH08B84P1ZNGDDE", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.25722, + 0.12506, + 4.64222 + ], + "start_rotation": [ + 0, + 0.78324, + 0, + -0.62172 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.66481, + "euclidean_distance": 6.87964, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.66766, + 0.80557, + -0.32819 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3570Y55XZRM3TXD9FMWXRA208XNGYO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.92689, + 0.15994, + -1.005 + ], + "start_rotation": [ + 0, + 0.12428, + 0, + -0.99225 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 19.00579, + "euclidean_distance": 13.76706, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.02399, + 0.80557, + 3.89509 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "97739a403b984dcd8253741a073b18dd", + "path": [ + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd" + ], + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3NAPMVF0ZYIUZJ91TYL8CTO2XBY27A", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.30826, + 0.80557, + 3.45207 + ], + "start_rotation": [ + 0, + 0.98616, + 0, + 0.16578 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.69936, + "euclidean_distance": 3.3931, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.09811, + 0.80557, + 0.30065 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3OLF68YTNB4WJFJBOWCZ63KH7O8FAZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.62322, + 0.80557, + -1.57882 + ], + "start_rotation": [ + 0, + 0.9661, + 0, + 0.25817 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 7.52607, + "euclidean_distance": 6.50824, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.02902, + 0.80557, + 3.79517 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "d6d4416592a0483691a1ed7d3b336a1a", + "path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1", + "0_edge_17_newN_1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0" + ], + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:37Z929RLGBBA2GN60G3F87TN3MQTS3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.70256, + 0.16149, + 2.85414 + ], + "start_rotation": [ + 0, + 0.49223, + 0, + 0.87046 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.26079, + "euclidean_distance": 6.60458, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.7385, + 0.80557, + -0.00516 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753" + ], + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3OUYGIZWR91C9FANAXBBTRM804B0PG", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.6066, + 0.00557, + -6.90276 + ], + "start_rotation": [ + 0, + 0.99739, + 0, + 0.07216 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.31861, + "euclidean_distance": 2.20512, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.80724, + 0.00557, + -4.96879 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "6f8d55f24a85428894e82cb9f5f082d6", + "path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3WQ3B2KGEAJACAUVNBXACC0TL0C1BM", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.7315, + 0.80557, + -3.00416 + ], + "start_rotation": [ + 0, + 0.22545, + 0, + -0.97425 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 14.97873, + "euclidean_distance": 13.04026, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.77961, + 0.10379, + 3.28336 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "cf7dde32a96d412791ca901207e4f3dd", + "path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "6ab11272308c46068c9ae583da8ff311", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "a59a3a61089343a8ba2834e7d3cd1066", + "0_edge_43_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "refined_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "0_edge_29_newN_0" + ], + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3IOEN3P9S9M46YD0RKG21WE0T94168", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.23592, + 0.0308, + 2.39413 + ], + "start_rotation": [ + 0, + 0.45805, + 0, + -0.88893 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.80444, + "euclidean_distance": 7.71303, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.94745, + 0.00557, + -4.34217 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3WR9XG3T65E42XOOXC4W58L0HQA47Q", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.67136, + 0.00557, + -4.59084 + ], + "start_rotation": [ + 0, + 0.54923, + 0, + 0.83567 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.73833, + "euclidean_distance": 5.41112, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.97986, + 0.20557, + 0.79049 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "1eac2c379ebf4e059f4a35e584f82f9b", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + [ + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:3300DTYQT4KW0HQWIHPFELEMW6AEQH", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.1792, + 0.03596, + 1.1557 + ], + "start_rotation": [ + 0, + 0.75886, + 0, + 0.65125 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.10947, + "euclidean_distance": 3.66613, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.57351, + 0.20557, + -0.28454 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3OXV7EAXLGT0G1RFEOULPPTY5IY36C", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.99978, + 0.00557, + 0.89849 + ], + "start_rotation": [ + 0, + 0.46151, + 0, + -0.88713 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.16829, + "euclidean_distance": 8.04591, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.71172, + 0.00557, + -4.62941 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "APRZ7BR8C0ZMQ:36U2A8VAG328VJ9S5DHCP2UTF6DKYO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.00502, + 0.18529, + 4.10484 + ], + "start_rotation": [ + 0, + 0.99011, + 0, + -0.14032 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.50739, + "euclidean_distance": 2.06782, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.50916, + 0.09073, + 2.66843 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "A3V8LIMUUJWUTL:39LNWE0K4WZ08FZZV9ZB9193UIJUI6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.40497, + 0.24928, + 4.39468 + ], + "start_rotation": [ + 0, + 0.14804, + 0, + -0.98898 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.90711, + "euclidean_distance": 6.93315, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.59296, + 0.20557, + -0.22033 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3KJYX6QCMBEWG585IHUGHOQML0NJVU", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.89512, + 0.1631, + 3.97464 + ], + "start_rotation": [ + 0, + 0.99984, + 0, + 0.01761 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.40151, + "euclidean_distance": 2.06526, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.3582, + 0.1065, + 2.62415 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3VP0C6EFSIZ12NZPK6Z0LO2484PM6E", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.42484, + 0.00557, + -1.69928 + ], + "start_rotation": [ + 0, + 0.89446, + 0, + 0.44714 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 13.42046, + "euclidean_distance": 5.52026, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.79465, + 0.00557, + -4.95312 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "0_edge_43_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3BC8WZX3V5ZLLMA1H2YFIIN9TZMRRC", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.49511, + 0.00557, + -1.68403 + ], + "start_rotation": [ + 0, + 0.0027, + 0, + 1 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.18872, + "euclidean_distance": 3.41342, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.6393, + 0.20557, + -0.08764 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3U8YCDAGXRJX9RB2AAQ0TWCI1PY0QI", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.06421, + 0.04245, + 1.18679 + ], + "start_rotation": [ + 0, + 0.48339, + 0, + -0.8754 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.76844, + "euclidean_distance": 4.73755, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.7787, + 0.80557, + -0.3886 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3Z2R0DQ0JJHF8YOBG6ZEI3GJ3M3E25", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.02804, + 0.00557, + 3.06097 + ], + "start_rotation": [ + 0, + 0.72746, + 0, + 0.68615 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.87469, + "euclidean_distance": 8.66335, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.71096, + 0.00557, + -4.61673 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3L70J4KAZIPZLV5FXQH9I3HVEUEADO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.86751, + 0.09943, + 3.04689 + ], + "start_rotation": [ + 0, + 0.9468, + 0, + 0.32182 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.19663, + "euclidean_distance": 3.68772, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.72568, + 0.20557, + -0.13617 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3HL8HNGX474IEW96WQYZA89X11GF90", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.31292, + 0.80557, + 4.38267 + ], + "start_rotation": [ + 0, + 0.92073, + 0, + -0.3902 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 6.43982, + "euclidean_distance": 4.65432, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.57899, + 0.80557, + -0.08068 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3PJUZCGDJ8J9ZHZJOCST0GSBBX898F", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.6631, + 0.08129, + 4.4463 + ], + "start_rotation": [ + 0, + 0.74774, + 0, + -0.66399 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.92829, + "euclidean_distance": 9.79367, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.91406, + 0.00557, + -4.25579 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3ZAK8W07I6HP1KIJRJA53X978OGU0P", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.88634, + 0.00557, + -2.5216 + ], + "start_rotation": [ + 0, + 0.81761, + 0, + 0.57577 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.9441, + "euclidean_distance": 5.22434, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.60581, + 0.20557, + -0.24527 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:3MD9PLUKKKH98F40YCBBV1KZFWINZL", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.40639, + 0.80557, + 4.78727 + ], + "start_rotation": [ + 0, + 0.50279, + 0, + 0.86441 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.59576, + "euclidean_distance": 4.11001, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.91203, + 0.80557, + 2.11499 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + [ + "0_edge_44_newN_0" + ], + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3X31TUMD7ZPMPJG7EOM4QFWYXRD1LQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.94397, + 0.05735, + 1.79141 + ], + "start_rotation": [ + 0, + 0.96658, + 0, + -0.25635 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.0654, + "euclidean_distance": 4.15213, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.68587, + 0.20557, + -0.12249 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3DEL4X4EL8OEFJ8Z4WW1FW2UVG7YXQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.06903, + 0.00557, + -1.93596 + ], + "start_rotation": [ + 0, + 0.00459, + 0, + -0.99999 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 9.43932, + "euclidean_distance": 3.63319, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.67626, + 0.20557, + -0.9633 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:31N2WW6R9TTWZUKQFHXPJV6BYFXF3J", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.12226, + 0.09918, + 3.66103 + ], + "start_rotation": [ + 0, + 0.97391, + 0, + 0.22696 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 13.01549, + "euclidean_distance": 10.99447, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.67676, + 0.80557, + -0.01927 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "0_edge_17_newN_0", + "path": [ + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3OWEPKL08BFQO5YUFHJS4HR0534N7S", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.962, + 0.80557, + 3.62885 + ], + "start_rotation": [ + 0, + 0.92223, + 0, + 0.38663 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.52057, + "euclidean_distance": 5.92682, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.90212, + 0.80557, + 2.18199 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3SUWZRL0M0G3QZ7C38BH8GXVJR36EC", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.73377, + 0.16736, + 1.70321 + ], + "start_rotation": [ + 0, + 0.9507, + 0, + -0.31011 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.27199, + "euclidean_distance": 5.20917, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.62966, + 0.20557, + -0.13829 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "0_edge_78_newN_0", + "path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A3F90N8YVKJ4I7:32Z9ZLUT1NN5ZF4IT55HAJGZCIMHOR", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.75343, + 0.00557, + -4.77963 + ], + "start_rotation": [ + 0, + 0.20207, + 0, + -0.97937 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.35272, + "euclidean_distance": 2.06214, + "closest_goal_object_id": 212, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.1183, + 0.00557, + -2.75895 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "97739a403b984dcd8253741a073b18dd", + [ + "0_edge_43_newN_1" + ] + ] + }, + { + "episode_id": "A272X64FOZFYLB:32SCWG5HIJ77NQW2CMRS2SWYWUN6P4", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.00279, + 0.00557, + -3.19585 + ], + "start_rotation": [ + 0, + 0.99318, + 0, + 0.11656 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.76032, + "euclidean_distance": 4.65111, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.63628, + 0.20557, + -0.28471 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "1eac2c379ebf4e059f4a35e584f82f9b", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3180JW2OT6FFIBTQCQC3DQWN42F5JF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.81677, + 0.15982, + 2.07725 + ], + "start_rotation": [ + 0, + 0.35397, + 0, + 0.93526 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.04491, + "euclidean_distance": 4.88752, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.75364, + 0.80557, + -0.32683 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_78_newN_0", + "path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3I7DHKZYGP3ZD97UT0LIYS4VFAPF5B", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.27185, + 0.80557, + 2.66362 + ], + "start_rotation": [ + 0, + 0.93923, + 0, + 0.34328 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.46364, + "euclidean_distance": 2.5129, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.00388, + 0.80557, + 3.79455 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "792bca2f015c482a82fae650dd5607f5", + "path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + [ + "792bca2f015c482a82fae650dd5607f5" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3S06PH7KST73R7SF17OG72OTRDRD1V", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.56467, + 0.00557, + -2.35369 + ], + "start_rotation": [ + 0, + 0.99706, + 0, + -0.07658 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 14.25976, + "euclidean_distance": 5.8264, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.01457, + 0.00557, + -4.30105 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + [ + "04135640920a4ba2b7dc68c679c43903" + ], + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2KOR4003SVNC5:3137ONMDKI85NSWIFLK3K7AKP3XGEN", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.97643, + 0.00557, + -2.70262 + ], + "start_rotation": [ + 0, + 0.83141, + 0, + 0.55566 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 14.06595, + "euclidean_distance": 5.1551, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.48951, + 0.80557, + -0.10876 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3LEIZ60CDL2OJD06X2S6D0PFADD9ZW", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.40268, + 0.19245, + 2.74188 + ], + "start_rotation": [ + 0, + 1, + 0, + 0.0015 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.5332, + "euclidean_distance": 5.96148, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.65257, + 0.20557, + -0.20892 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "0_edge_78_newN_0", + "path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3MYYFCXHJ5ANVQZPQF8QBLYSZDIG4F", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.86588, + 0.85804, + 1.05925 + ], + "start_rotation": [ + 0, + 0.98858, + 0, + 0.15071 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.15685, + "euclidean_distance": 3.33917, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.97534, + 0.80557, + 3.70121 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "48a2541fc50b4a57a609698e2375e9b1", + "path": [ + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A2J5DN5UMU0A3Z:3TEM0PF1Q703KI7X5OKGTX5JMLQ0DK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.86734, + 0.13869, + 3.65206 + ], + "start_rotation": [ + 0, + 0.32434, + 0, + -0.94594 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.11053, + "euclidean_distance": 1.90553, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.4028, + 0.10106, + 2.64017 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + [ + "373c50dfa27649188f8e5b66c28f10a7" + ] + ] + }, + { + "episode_id": "A272X64FOZFYLB:36DSNE9QZ711QLZ8H582MWWEPB2JOC", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.46793, + 0.02684, + 2.69804 + ], + "start_rotation": [ + 0, + 0.09626, + 0, + -0.99536 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.4718, + "euclidean_distance": 3.60333, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.63758, + 0.20557, + -0.21348 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:337RC3OW0752BVW5L26TX33EMRBLVI", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.23563, + 0.00557, + -4.48842 + ], + "start_rotation": [ + 0, + 0.71948, + 0, + -0.69452 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.78544, + "euclidean_distance": 1.67483, + "closest_goal_object_id": 212, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.01455, + 0.00557, + -2.84684 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "8554983cf79243f6bfb0f6fa8950e8a5", + "path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:37M28K1J0SGCOH577M3KL1C8J55AJE", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 14.07265, + 0.20557, + 1.40343 + ], + "start_rotation": [ + 0, + 0.68879, + 0, + 0.72496 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.5968, + "euclidean_distance": 1.33616, + "closest_goal_object_id": 218, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 13.51067, + 0.20557, + 0.15655 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:33L7PJKHCI1SJW8XMIXARGTMRSX8TW", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.13578, + 0.80557, + 3.10237 + ], + "start_rotation": [ + 0, + 0.18282, + 0, + 0.98315 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.97057, + "euclidean_distance": 2.75288, + "closest_goal_object_id": 98, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.02675, + 0.80557, + 4.71856 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + [ + "0_edge_44_newN_0" + ], + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3P529IW9K0ODFYAFLN1PFH0SLM3FL5", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.43674, + 0.00557, + -3.2631 + ], + "start_rotation": [ + 0, + 0.9695, + 0, + 0.24507 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.50451, + "euclidean_distance": 3.71538, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.58338, + 0.20557, + -0.17332 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3MD9PLUKKKH98F40YCBBV1KY1J1ZNA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.49237, + 0.20557, + -0.58544 + ], + "start_rotation": [ + 0, + 0.97103, + 0, + 0.23896 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 16.47745, + "euclidean_distance": 12.74729, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.75916, + 0.80557, + -0.02961 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "97739a403b984dcd8253741a073b18dd", + "path": [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3DUZQ9U6SORPF8RV5B3U9PH9EKLSV3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.04416, + 1.00557, + -2.99087 + ], + "start_rotation": [ + 0, + 0.85047, + 0, + 0.52602 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.70331, + "euclidean_distance": 3.08743, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.82766, + 0.80557, + 0.05322 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "755d110c2ed84d76be11ad56ae00b53f", + "path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3X0H8UUIT3R2UXR0VL8QVR0M7HBSWX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.98602, + 0.80557, + 4.02473 + ], + "start_rotation": [ + 0, + 0.45172, + 0, + -0.89216 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.99253, + "euclidean_distance": 2.92057, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.04604, + 0.80557, + 3.73108 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f" + ], + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:33UKMF931BNBHG0LPG85ICPAJJ0TTW", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.84663, + 0.80557, + 3.33317 + ], + "start_rotation": [ + 0, + 0.44494, + 0, + 0.89556 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.12507, + "euclidean_distance": 3.50859, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.9772, + 0.80557, + 0.31098 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_33_newN_2" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "0_edge_29_newN_0" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + [ + "0_edge_29_newN_0" + ], + "0_edge_33_newN_2", + [ + "0_edge_29_newN_0" + ] + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3RWE2M8QWJDC6UYAUIYJP2HD0PHN0E", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.75591, + 0.80557, + 5.10558 + ], + "start_rotation": [ + 0, + 0.98797, + 0, + 0.15464 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.27517, + "euclidean_distance": 1.20631, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.51991, + 0.80557, + 4.01479 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3MHW492WW2GMHDEQLE78XGI3PYWMVN", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.21348, + 0.03285, + 1.94123 + ], + "start_rotation": [ + 0, + 0.6569, + 0, + -0.75398 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.66917, + "euclidean_distance": 9.37792, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.98658, + 0.80557, + 3.77363 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + [ + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3ZV9H2YQQFAYAG6L567PNJSAD8L3W1", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.726, + 0.00557, + 2.3188 + ], + "start_rotation": [ + 0, + 0.97364, + 0, + -0.22809 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.31952, + "euclidean_distance": 7.41514, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.96196, + 0.00557, + -4.33579 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3UJ1CZ6IZJS8HECGZKLH5RNA1XG5S8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.4844, + 0.80557, + 3.20786 + ], + "start_rotation": [ + 0, + 0.77464, + 0, + -0.6324 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.74411, + "euclidean_distance": 3.23359, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.05053, + 0.80557, + 0.2791 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "refined_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3MTMREQS4XLYU156ELMZAR6HZVTAWS", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.71484, + 0.96942, + -2.63874 + ], + "start_rotation": [ + 0, + 0.18579, + 0, + -0.98259 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 14.82451, + "euclidean_distance": 9.15868, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.75279, + 0.09641, + 3.22127 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "755d110c2ed84d76be11ad56ae00b53f", + "path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "0_edge_78_newN_0", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3QFUFYSY90IHHQ3UFV28T0YHFCAF4I", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.8954, + 0.80557, + 4.1008 + ], + "start_rotation": [ + 0, + 0.50295, + 0, + -0.86432 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.57245, + "euclidean_distance": 4.21657, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.99024, + 0.80557, + 0.29766 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3AWETUDC94VHUET91WYJQTOHD3IZI5", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.3309, + 0.00557, + -0.94081 + ], + "start_rotation": [ + 0, + 0.37535, + 0, + -0.92688 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 11.06384, + "euclidean_distance": 5.69578, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.6522, + 0.80557, + 0.01452 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3IXQG4FA2V1S1FXQROC3RIICM7G9BC", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.41877, + 0.09791, + 3.88771 + ], + "start_rotation": [ + 0, + 0.81397, + 0, + 0.58091 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.09354, + "euclidean_distance": 4.64648, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.66373, + 0.20557, + -0.07272 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3MTMREQS4XLYU156ELMZAR6HZM1WA4", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.62873, + 0.00557, + -3.07141 + ], + "start_rotation": [ + 0, + 0.77854, + 0, + -0.62759 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 15.17729, + "euclidean_distance": 6.77875, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.55545, + 0.80557, + -0.16458 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + [ + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:3Y4W8Q93L1NJDJ8D8L85EQV9DOVDVS", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.69088, + 0.00557, + -5.17597 + ], + "start_rotation": [ + 0, + 0.74209, + 0, + -0.6703 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 1.37239, + "euclidean_distance": 1.07002, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.76553, + 0.00557, + -4.75519 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "b000c5baa76b454caa1c58c9aac585f6", + "path": [ + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:32VNZTT0A97EKG836Q22APCZ190R43", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.96792, + 0.00557, + -1.36601 + ], + "start_rotation": [ + 0, + 0.3604, + 0, + -0.9328 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 10.63172, + "euclidean_distance": 4.58661, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.40035, + 0.00557, + -2.2209 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3ITXP059PYMGODR1OMPB616FJX7SJB", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.87226, + 0.80557, + -0.92697 + ], + "start_rotation": [ + 0, + 0.83877, + 0, + 0.54448 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 1.40076, + "euclidean_distance": 1.14795, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.62153, + 0.80557, + -0.00239 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "d6d4416592a0483691a1ed7d3b336a1a", + "path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3J4Q2Z4UT06QHHCN3HJL0RLM2UHWQK", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.42852, + 0.00557, + -2.00749 + ], + "start_rotation": [ + 0, + 0.36826, + 0, + -0.92972 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 14.19917, + "euclidean_distance": 4.7461, + "closest_goal_object_id": 162, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.68377, + 0.00557, + -6.20954 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3FTYUGLFSWO2FPTY2UQSAS1A3XXD5M", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.97845, + 0.00557, + -0.82841 + ], + "start_rotation": [ + 0, + 0.78112, + 0, + -0.62438 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.85829, + "euclidean_distance": 4.38441, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.81617, + 0.00557, + 1.35761 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + ] + }, + { + "episode_id": "A38AQF5BPHJS4C:354P56DE9M6N4IQZND0E3B16V1IS7G", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.05503, + 0.00557, + 0.15683 + ], + "start_rotation": [ + 0, + 0.22704, + 0, + 0.97389 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 12.21774, + "euclidean_distance": 6.86022, + "closest_goal_object_id": 162, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.61717, + 0.00557, + -6.12126 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "ALZVG5501Y5IX:386PBUZZXH0TK0WB4DSAUFSKU69LJ9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.03154, + 0.00557, + -2.95801 + ], + "start_rotation": [ + 0, + 0.03429, + 0, + 0.99941 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.53836, + "euclidean_distance": 4.47428, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.66701, + 0.20557, + -0.12891 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3X87C8JFV8EXA0VEJC9K32I0HWJSQC", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.80402, + 0.07007, + 1.74246 + ], + "start_rotation": [ + 0, + 0.73323, + 0, + -0.67998 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.35872, + "euclidean_distance": 9.02088, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.05319, + 0.80557, + 3.87434 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:37XITHEISYCHFKLIZ58KTNOO71DCR7", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.40915, + 0.80557, + 4.78557 + ], + "start_rotation": [ + 0, + 0.89272, + 0, + -0.45061 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.94894, + "euclidean_distance": 5.11806, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.6007, + 0.80557, + -0.11342 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:373ERPL3YQBY11NTLR3AIXOSVWZTRB", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.1535, + 0.00557, + -1.23751 + ], + "start_rotation": [ + 0, + 0.57278, + 0, + -0.81971 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 13.69778, + "euclidean_distance": 6.65116, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.97288, + 0.00557, + -4.36536 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AYYSG3O9FNU15:323Q6SJS8KJBT2RPU2MRNP7K3XEFHZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.83009, + 0.80557, + 3.29672 + ], + "start_rotation": [ + 0, + 0.95927, + 0, + 0.28251 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.35002, + "euclidean_distance": 5.72638, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.9189, + 0.80557, + 2.14731 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A75XDPFNICR3T:33SA9F9TRZX1KEMIUQOL6AW8JRBEW8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.95216, + 0.80557, + 3.72572 + ], + "start_rotation": [ + 0, + 0.25417, + 0, + -0.96716 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.47763, + "euclidean_distance": 5.90004, + "closest_goal_object_id": 54, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.13468, + 0.80557, + 0.17383 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:337RC3OW0752BVW5L26TX33D896VL7", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.80447, + 0.00606, + 1.72965 + ], + "start_rotation": [ + 0, + 0.25725, + 0, + 0.96634 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 9.69757, + "euclidean_distance": 7.41923, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.83126, + 0.00557, + -5.05673 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "0_edge_17_newN_1", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:36TFCYNS46DSTOIAUWSDTW7SOJWHXV", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.62834, + 0.00557, + -1.97476 + ], + "start_rotation": [ + 0, + 0.9981, + 0, + 0.06166 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 12.03088, + "euclidean_distance": 5.85934, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.32062, + 0.00557, + -2.11886 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:38BQUHLA9Y3RRT5TK2LU2OOVT5ZOMN", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.13406, + 0.80557, + 4.21411 + ], + "start_rotation": [ + 0, + 0.4367, + 0, + 0.89961 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.89637, + "euclidean_distance": 2.09259, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.00466, + 0.80557, + 3.93833 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:3907X2AHF28J5PD1PKFPCFFNU8CP2F", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.53718, + 0.00557, + 3.78637 + ], + "start_rotation": [ + 0, + 0.023, + 0, + -0.99974 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.72155, + "euclidean_distance": 5.03141, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.70515, + 0.20557, + -0.1881 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:30MVJZJNHOGYJYV2FGPKP61PQYR9J3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.92333, + 0.04501, + 4.02683 + ], + "start_rotation": [ + 0, + 0.30912, + 0, + -0.95102 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.63425, + "euclidean_distance": 7.14089, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.54559, + 0.14121, + -2.21304 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3E337GFOLBB9HY9V8KNMAU4T79TNGA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.76523, + 0.50338, + 2.52779 + ], + "start_rotation": [ + 0, + 0.07323, + 0, + -0.99731 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.39061, + "euclidean_distance": 5.59598, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.73537, + 0.80557, + 0.07714 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "373c50dfa27649188f8e5b66c28f10a7", + "path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3ZWFC4W1UWAOIW5SQ7YL1T9R7S0FRB", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.40983, + 0.00557, + -3.14119 + ], + "start_rotation": [ + 0, + 0.86824, + 0, + 0.49615 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 14.27602, + "euclidean_distance": 3.67084, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.7116, + 0.00557, + -4.84528 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A75XDPFNICR3T:34QN5IT0T1UR3NB6OG9075RI8UO086", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.17436, + 0.00557, + -2.44194 + ], + "start_rotation": [ + 0, + 0.76689, + 0, + 0.64178 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 12.83985, + "euclidean_distance": 3.43095, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.92333, + 0.00557, + -4.30986 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:35L9RVQFCQL0CKOFPRHQ9P8OU1XHUL", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.7379, + 0.00557, + -2.4259 + ], + "start_rotation": [ + 0, + 0.78073, + 0, + -0.62486 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 13.77394, + "euclidean_distance": 3.97599, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.55332, + 0.80557, + -0.08667 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:33PPUNGG3A8UNDWSRJSS4LP9GSTZR5", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.84746, + 0.00557, + -2.44038 + ], + "start_rotation": [ + 0, + 0.13021, + 0, + 0.99149 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 13.77464, + "euclidean_distance": 4.07262, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.45253, + 0.80557, + -0.07508 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3TU5ZICBRF4FRGG55E3FMBI0O1P8QO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.03975, + 0.00557, + -4.45199 + ], + "start_rotation": [ + 0, + 0.4952, + 0, + -0.86878 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 19.69767, + "euclidean_distance": 12.14652, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.75688, + 0.80557, + -0.00304 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "8554983cf79243f6bfb0f6fa8950e8a5", + "path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A272X64FOZFYLB:39OWYR0EPMUXFXHE42QF9P2NTYRYFR", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.33045, + 0.00557, + -2.21044 + ], + "start_rotation": [ + 0, + 0.32586, + 0, + -0.94542 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 12.33109, + "euclidean_distance": 6.03988, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.70307, + 0.80557, + -0.01703 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3C2NJ6JBKCKJ241O952X8QAREMR2NG", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.34241, + 0.00557, + -3.25167 + ], + "start_rotation": [ + 0, + 0.1443, + 0, + -0.98953 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.67273, + "euclidean_distance": 3.90692, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.8736, + 0.00557, + -4.93143 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A5A14MTB35J23:3TR2532VIRXB1FT4H9M85WAN48T6JP", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -0.62788, + 0.80557, + -2.91448 + ], + "start_rotation": [ + 0, + 0.32318, + 0, + 0.94634 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 6.77409, + "euclidean_distance": 5.27277, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.76616, + 0.80557, + 0.05669 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "cf7dde32a96d412791ca901207e4f3dd", + "path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3NKQQ8O3908J04JD3VY0I4TPJEUDUN", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.31082, + 0.80557, + 4.46499 + ], + "start_rotation": [ + 0, + 0.29459, + 0, + -0.95562 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.10812, + "euclidean_distance": 5.68337, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.68377, + 0.80557, + 0.10953 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3VD82FOHKSREI7T27DRGZSJJWUDCOE", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.7967, + 0.0159, + 1.89627 + ], + "start_rotation": [ + 0, + 0.99262, + 0, + -0.12124 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.39091, + "euclidean_distance": 2.77501, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.54514, + 0.20557, + -0.26203 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "0_edge_17_newN_1", + "path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:30LB5CDZNED6NJCTX69DKPOMA6TZ0H", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 11.11489, + 0.11416, + 2.61912 + ], + "start_rotation": [ + 0, + 0.94119, + 0, + -0.33789 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 12.60318, + "euclidean_distance": 10.68626, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.67812, + 0.80557, + -0.02779 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "39791f422b0244aa84b3d41d9b218f7e", + "path": [ + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3OUYGIZWR91C9FANAXBBTRM7JMSP03", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.68605, + 0.80557, + 3.60357 + ], + "start_rotation": [ + 0, + 0.41213, + 0, + -0.91113 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.35311, + "euclidean_distance": 3.74798, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.8017, + 0.80557, + 2.25356 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + [ + "0_edge_44_newN_0" + ], + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:308Q0PEVBAG2ONBWXY4KD5MPEUOI99", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.88766, + 0.02082, + 1.83158 + ], + "start_rotation": [ + 0, + 0.79069, + 0, + 0.61221 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.17423, + "euclidean_distance": 3.30503, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.66753, + 0.20557, + -1.00341 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "0_edge_17_newN_1", + "path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:32AT8R96GNCP2T2V0LTPD3FQ3H2USH", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.70085, + 0.07945, + 2.1717 + ], + "start_rotation": [ + 0, + 0.56354, + 0, + -0.82609 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 11.12891, + "euclidean_distance": 8.56531, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.73737, + 0.00557, + -4.74943 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3AMYWKA6YDPP2QK1XMEDDSR907TO6N", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.97614, + 0.00557, + 1.01114 + ], + "start_rotation": [ + 0, + 0.84111, + 0, + 0.54086 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 11.86666, + "euclidean_distance": 9.29077, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.69274, + 0.80557, + 0.17145 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A272X64FOZFYLB:308XBLVESK7Y5FTCL5CPI3I6STQBR5", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.14302, + 0.00557, + -1.87265 + ], + "start_rotation": [ + 0, + 0.04053, + 0, + 0.99918 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 10.19575, + "euclidean_distance": 5.67529, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.60058, + 0.20557, + -0.21768 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A7XL1V3G7C2VV:30H4UDGLT4L9CTHUZ2Y9ROTKMUIMPA", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.64236, + 0.00557, + 3.11567 + ], + "start_rotation": [ + 0, + 0.58033, + 0, + -0.81438 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.3587, + "euclidean_distance": 4.4454, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.70381, + 0.20557, + -0.17073 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3ZY8KE4ISL6D2SCID7EPEP28WXZQVD", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.81162, + 0.80557, + 3.12282 + ], + "start_rotation": [ + 0, + 0.99939, + 0, + 0.03482 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.12884, + "euclidean_distance": 2.93509, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.03357, + 0.80557, + 0.388 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_33_newN_2" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "0_edge_29_newN_0" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0" + ], + "0_edge_33_newN_2", + [ + "0_edge_29_newN_0" + ] + ] + }, + { + "episode_id": "A3PFU4042GIQLE:3H8DHMCCWBE5X8E19HUYCHKRHP8KDD", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.12783, + 0.80557, + -0.3281 + ], + "start_rotation": [ + 0, + 0.9148, + 0, + -0.4039 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.58846, + "euclidean_distance": 9.31208, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.67176, + 0.09337, + 3.33053 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "ba19aada2e9a47839c0355085f70f7c5", + "path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "1eac2c379ebf4e059f4a35e584f82f9b", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "refined_path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3RGU30DZTCBDQIEW4PTPUS79RE8JML", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.36839, + 0.00557, + 4.67178 + ], + "start_rotation": [ + 0, + 0.9714, + 0, + -0.23746 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.49674, + "euclidean_distance": 5.85775, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.65757, + 0.20557, + -0.22799 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + [ + "97739a403b984dcd8253741a073b18dd" + ] + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3XC1O3LBOUPNY3SGG76EWLFTS4ZTLD", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.73816, + 0.07606, + 1.66435 + ], + "start_rotation": [ + 0, + 0.8817, + 0, + -0.47181 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 10.76646, + "euclidean_distance": 5.57498, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.60176, + 0.80557, + -0.10921 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3OF2M9AATIR809JX1ZJV393VKQUKZ7", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.96983, + 0.80557, + 4.78245 + ], + "start_rotation": [ + 0, + 0.86182, + 0, + 0.50721 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.90179, + "euclidean_distance": 5.22951, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.49791, + 0.80557, + -0.13309 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3B3WTRP3DD5YD2XU8VJSQPF8P45298", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.48632, + 0.00557, + -2.1269 + ], + "start_rotation": [ + 0, + 0.52874, + 0, + 0.84879 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.59552, + "euclidean_distance": 3.62772, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.65157, + 0.20557, + -0.08333 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_72_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3SKEMFQBZ58TGDIAS9JIQP6RMREK8E", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.99651, + 0.16805, + 3.85571 + ], + "start_rotation": [ + 0, + 0.59499, + 0, + 0.80373 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.26452, + "euclidean_distance": 1.91254, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.37699, + 0.10897, + 2.61311 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ] + }, + { + "episode_id": "ALZVG5501Y5IX:3XM0HYN6NM2B05PHI4AQEGOCU83PEF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.26491, + 0.0207, + 5.28926 + ], + "start_rotation": [ + 0, + 0.93971, + 0, + -0.34197 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.11235, + "euclidean_distance": 6.42968, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.68466, + 0.20557, + -0.26964 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3QUO65DNQWRA41A2T4CGTY5PQE9OUG", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.55924, + 0.00557, + -2.63378 + ], + "start_rotation": [ + 0, + 0.90531, + 0, + 0.42475 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.86742, + "euclidean_distance": 3.14211, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.5968, + 0.20557, + -0.16817 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "3362c518d40641d4b95d317186bde71b", + "path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "0_edge_72_newN_0", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A31BA1WLSWUSY1:3RXPCZQMQRE63R263XPODNRPNST1G6", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.4012, + 0.05863, + 3.31625 + ], + "start_rotation": [ + 0, + 0.43172, + 0, + -0.90201 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.88112, + "euclidean_distance": 9.26732, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.67303, + 0.80557, + 0.03691 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "6f8d55f24a85428894e82cb9f5f082d6", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6" + ], + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3BWI6RSP7ICMUZLHMIG9EUXRUEWE7W", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.54694, + 0.00557, + -2.54646 + ], + "start_rotation": [ + 0, + 0.99757, + 0, + -0.06974 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.45835, + "euclidean_distance": 4.65334, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.60408, + 0.20557, + -0.207 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3A0EX8ZRNAR72G5YZ04JQZB2EORBYQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.07531, + 0.80557, + 4.23845 + ], + "start_rotation": [ + 0, + 0.99979, + 0, + 0.02029 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.66121, + "euclidean_distance": 4.96077, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.80856, + 0.80557, + -0.45867 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:31QNSG6A5TW5LYBQ9FU9MK15GF8876", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.87299, + 0.80557, + 0.54422 + ], + "start_rotation": [ + 0, + 0.82153, + 0, + -0.57016 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 19.80014, + "euclidean_distance": 12.98937, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.71504, + 0.00557, + -4.66308 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "ba19aada2e9a47839c0355085f70f7c5", + "path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "4547d37b305e41bdad0de45ade6971ca", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + [ + "48a2541fc50b4a57a609698e2375e9b1" + ], + "4547d37b305e41bdad0de45ade6971ca", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5" + ], + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A15T9HDPHV3X7Q:3NG53N1RLXMUR4FQ51OQM6SQ3SEP8J", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.45349, + 0.80557, + 4.57839 + ], + "start_rotation": [ + 0, + 0.00744, + 0, + -0.99997 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 16.66793, + "euclidean_distance": 13.89928, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.8049, + 0.00557, + -4.80235 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "d6d4416592a0483691a1ed7d3b336a1a", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + [ + "0_edge_44_newN_0" + ], + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3MH9DQ757YFMCOT45LZ8OPWMYKZUGX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.90571, + 0.80557, + 3.34915 + ], + "start_rotation": [ + 0, + 0.12894, + 0, + 0.99165 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 6.78665, + "euclidean_distance": 3.27471, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.72665, + 0.80557, + 0.18828 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:32Q90QCQ1UOAPES15C5IIZ2DX05EKC", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.57383, + 0.05451, + 3.86052 + ], + "start_rotation": [ + 0, + 0.88182, + 0, + 0.47158 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 14.27575, + "euclidean_distance": 12.43336, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.76256, + 0.80557, + -0.01611 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "0_edge_75_newN_1", + "path": [ + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:32ZKVD547HQ6MD8AAFBT05FP3BLB3J", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.7368, + 0.80557, + 2.5671 + ], + "start_rotation": [ + 0, + 0.69955, + 0, + -0.71459 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.62244, + "euclidean_distance": 2.37746, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.08224, + 0.80557, + 0.28124 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3SEPORI8WP22OWABP8669V0ZJSBZAE", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.98057, + 0.04459, + 3.91012 + ], + "start_rotation": [ + 0, + 0.42268, + 0, + 0.90628 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.42338, + "euclidean_distance": 4.87984, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.65385, + 0.20557, + -0.13949 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + [ + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:37C0GNLMHH6YYTTC7D0X2YFAWOKD63", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.46488, + 0.00999, + 1.22119 + ], + "start_rotation": [ + 0, + 0.10071, + 0, + -0.99492 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.01235, + "euclidean_distance": 7.63207, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.86975, + 0.00557, + -4.91548 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:38JBBYETQQDPBC3YKKI2BIDGKE04EF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.91882, + 0.00557, + 1.91401 + ], + "start_rotation": [ + 0, + 0.1277, + 0, + -0.99181 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.10948, + "euclidean_distance": 3.41568, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.53334, + 0.20557, + -0.26943 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "0_edge_17_newN_1", + "path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3UWN2HHPU08C73IM3KH3Z8NWSHISNL", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.51498, + 0.00864, + 3.87975 + ], + "start_rotation": [ + 0, + 0.40262, + 0, + 0.91537 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.69225, + "euclidean_distance": 5.25886, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.67526, + 0.20557, + -0.99012 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "800eb666021c4fd2a603dc9d89b8a50d", + "path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "0_edge_17_newN_0", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "A2FP41BSPG0Y4A:3PMBY0YE296BBKPW5O8Y22OU4P1C91", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.84356, + 0.80557, + 3.87776 + ], + "start_rotation": [ + 0, + 0.18947, + 0, + 0.98189 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.79522, + "euclidean_distance": 3.77996, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.80193, + 0.80557, + 0.08455 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2J6S7QR4CGXTW:3N2BF7Y2VSXHZCJ6GPQ4IFRUHJQMH2", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.28472, + 0.0172, + 5.2207 + ], + "start_rotation": [ + 0, + 0.91993, + 0, + 0.39207 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.04206, + "euclidean_distance": 6.36086, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.67782, + 0.20557, + -0.23071 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1" + ], + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3TDXMTX3CDXF649YZR18TVVNOSV6IZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.11561, + 0.08304, + 3.36626 + ], + "start_rotation": [ + 0, + 0.99942, + 0, + 0.03394 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.75492, + "euclidean_distance": 1.55127, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.56169, + 0.07486, + 2.72261 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "9096013c3596463b9c0500520d12fef1", + "path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5" + ], + "refined_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3Y9N9SS8L0EZ1A6UOB2ZVV3QM3TD3K", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.02834, + 0.80557, + 3.26849 + ], + "start_rotation": [ + 0, + 0.98326, + 0, + -0.18223 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 3.25218, + "euclidean_distance": 2.59361, + "closest_goal_object_id": 99, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.62746, + 0.80557, + 1.20957 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:32SVAV9L3HC1333I41BX5UVK4YBA3T", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.03168, + 0.80557, + 4.95671 + ], + "start_rotation": [ + 0, + 0.91498, + 0, + 0.40349 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 17.12885, + "euclidean_distance": 14.46496, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.75596, + 0.00557, + -4.75419 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f" + ], + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3TOK3KHVJVL86QY6GWJ5J6R5U2R7OM", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.04693, + 0.80557, + 4.40287 + ], + "start_rotation": [ + 0, + 0.82582, + 0, + -0.56394 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 7.03761, + "euclidean_distance": 4.85033, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.44012, + 0.80557, + -0.12572 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A13WYZ8AXD6ODX:3M0BCWMB8XZ3DBAYKZMV52QNK50BWX", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -0.45905, + 0.80557, + 1.15956 + ], + "start_rotation": [ + 0, + 0.62124, + 0, + 0.78362 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 1.19014, + "euclidean_distance": 1.09719, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.91122, + 0.80557, + 2.14029 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "6ab11272308c46068c9ae583da8ff311", + "path": [ + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3FTF2T8WLTLKPIV1MF8ZEWVXGX29WU", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.72245, + 0.00557, + -1.91022 + ], + "start_rotation": [ + 0, + 0.86435, + 0, + -0.50289 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.76773, + "euclidean_distance": 5.16353, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.89713, + 0.00557, + 1.04404 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_75_newN_1" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "A16K7X677N4WN6:36PW28KO41Z4D1JFTLSTOLZHVMYAEF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.75781, + 0.20557, + 1.23751 + ], + "start_rotation": [ + 0, + 0.99773, + 0, + -0.06731 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 14.68366, + "euclidean_distance": 12.06132, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.77078, + 0.80557, + 0.08405 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "39791f422b0244aa84b3d41d9b218f7e", + [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3HMVI3QICLV6PIN6X3BUKNYU5QA1YE", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.05719, + 0.00557, + 0.31421 + ], + "start_rotation": [ + 0, + 0.09279, + 0, + -0.99569 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.30285, + "euclidean_distance": 3.54912, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.71128, + 0.80557, + -0.28493 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:3I33IC7ZWH5CIL7Z01XSMKQSYFKA2H", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.12623, + 0.13343, + 3.95286 + ], + "start_rotation": [ + 0, + 0.87989, + 0, + -0.47518 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.13547, + "euclidean_distance": 6.29182, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.6685, + 0.80557, + -0.32208 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3JPSL1DZ5U2877WSMKVCE8TQ6HFANN", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.50119, + 0.80557, + -1.19901 + ], + "start_rotation": [ + 0, + 0.5781, + 0, + -0.81596 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 7.1585, + "euclidean_distance": 6.12433, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.00933, + 0.80557, + 3.95521 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "d6d4416592a0483691a1ed7d3b336a1a", + "path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:32AT8R96GNCP2T2V0LTPD3FPMOZSU7", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.9403, + 0.05768, + 1.48424 + ], + "start_rotation": [ + 0, + 0.37997, + 0, + -0.925 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.2651, + "euclidean_distance": 5.82653, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.48254, + 0.07007, + -2.17426 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "0_edge_13_newN_0", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3I2PTA7R3VXZMHI6E30ICGRRFNZKQ3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -0.45655, + 0.80557, + -2.36549 + ], + "start_rotation": [ + 0, + 0.25778, + 0, + -0.9662 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.32716, + "euclidean_distance": 3.67819, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.63043, + 0.80557, + -0.31414 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "cf7dde32a96d412791ca901207e4f3dd", + "path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ], + "refined_path": [ + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:31IBVUNM9U2GB3M9ZR3V2QYT98TVFZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.36487, + 0.20557, + 0.72568 + ], + "start_rotation": [ + 0, + 0.76339, + 0, + 0.64594 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.43691, + "euclidean_distance": 3.02249, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.37007, + 0.00557, + -2.18084 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "3182b6eba9ce405f9e1c0af86cc6b862", + "path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ], + "refined_path": [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A2J5DN5UMU0A3Z:3T111IHZ5GTFHMEFNLYTRXNFND49RV", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.21108, + 0.00557, + -4.65385 + ], + "start_rotation": [ + 0, + 0.99588, + 0, + 0.09067 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.69549, + "euclidean_distance": 2.13667, + "closest_goal_object_id": 212, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.94585, + 0.00557, + -2.88611 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3X31TUMD7ZPMPJG7EOM4QFWYXTX1LE", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.83746, + 0.80557, + 3.78222 + ], + "start_rotation": [ + 0, + 0.43619, + 0, + -0.89986 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.0104, + "euclidean_distance": 3.51223, + "closest_goal_object_id": 99, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.40103, + 0.80557, + 1.18693 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "3da7e4f299e74a429ca5d336deb2a96f", + "path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A2J5DN5UMU0A3Z:3IXEICO794M5FIP9T30C72XWZA46TB", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.01846, + 0.09358, + -1.78256 + ], + "start_rotation": [ + 0, + 0.99858, + 0, + 0.05322 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 3.59908, + "euclidean_distance": 3.3668, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.81136, + 0.00557, + -4.96885 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "0_edge_43_newN_1", + "path": [ + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3KYQYYSHYXAONZZG79MRJY11HOTDO7", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.65878, + 0.80557, + 2.33278 + ], + "start_rotation": [ + 0, + 0.80692, + 0, + -0.59066 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.39713, + "euclidean_distance": 2.13118, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.08925, + 0.80557, + 0.32574 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "792bca2f015c482a82fae650dd5607f5", + "path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "refined_path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3WMINLGALD6PG3Z1XUMYYXZDR1BAC9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.08024, + 0.80557, + 3.55796 + ], + "start_rotation": [ + 0, + 0.27457, + 0, + -0.96157 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 7.73385, + "euclidean_distance": 4.54289, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.4149, + 0.80557, + -0.13327 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:33F859I568GLGLF9P00V4ZGZMCOBH3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.06903, + 0.00557, + -1.93596 + ], + "start_rotation": [ + 0, + 0.00459, + 0, + -0.99999 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 9.43932, + "euclidean_distance": 3.63319, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.67626, + 0.20557, + -0.9633 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3ZOTGHDK5KEUPOIY4ZHGEXN044XOSG", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.97173, + 0.80557, + 5.19851 + ], + "start_rotation": [ + 0, + 0.36119, + 0, + -0.93249 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.52413, + "euclidean_distance": 6.09694, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.75414, + 0.80557, + -0.34857 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3S0TNUHWKVLL27C00SXVMCB1PBBD8X", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.86392, + 0.00557, + -1.12454 + ], + "start_rotation": [ + 0, + 0.44966, + 0, + 0.8932 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.18389, + "euclidean_distance": 4.6812, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.74573, + 0.00557, + 1.4425 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3EQHHY4HQUV5R93P4KR0GD46ZZNG5A", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.8332, + 0.13654, + 3.68476 + ], + "start_rotation": [ + 0, + 0.6228, + 0, + 0.78238 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.154, + "euclidean_distance": 1.95143, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.48578, + 0.11112, + 2.59457 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "A3F0NFNLOLFJT0:3TXWC2NHN1TRI1ES2AYYH7SCAI9S9X", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.32458, + 0.80557, + 0.10377 + ], + "start_rotation": [ + 0, + 0.92709, + 0, + -0.37485 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 22.20761, + "euclidean_distance": 10.59678, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.78763, + 0.00557, + -4.69642 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3UJ1CZ6IZJS8HECGZKLH5RNA4VQS54", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.03614, + 0.04897, + 1.27843 + ], + "start_rotation": [ + 0, + 0.01991, + 0, + 0.9998 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 11.20508, + "euclidean_distance": 5.74576, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.60501, + 0.80557, + -0.24647 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3Z2R0DQ0JJHF8YOBG6ZEI3GJJYM2EG", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.14839, + 0.00557, + -0.34306 + ], + "start_rotation": [ + 0, + 0.99942, + 0, + -0.03405 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.69267, + "euclidean_distance": 2.43385, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.68573, + 0.20557, + -0.24098 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "0_edge_12_newN_0", + "path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3PS7W85Z815SX1R7RA3ORCOYSHG9T8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.67599, + 0.81152, + 1.07997 + ], + "start_rotation": [ + 0, + 0.58185, + 0, + -0.81329 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 10.21405, + "euclidean_distance": 9.31313, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.65598, + 0.08651, + 3.25521 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "48a2541fc50b4a57a609698e2375e9b1", + "path": [ + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "refined_path": [ + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1" + ], + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ] + }, + { + "episode_id": "A25FNSFSB048DL:3S3AMIZX3W8NEA2DH4D0OY7JCMCCDH", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.55151, + 0.00557, + 0.79245 + ], + "start_rotation": [ + 0, + 0.95461, + 0, + -0.29785 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 10.37827, + "euclidean_distance": 6.40446, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.74214, + 0.00557, + -4.71037 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3OF2M9AATIR809JX1ZJV393VL87KZL", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.72636, + 0.80557, + 2.8831 + ], + "start_rotation": [ + 0, + 0.05259, + 0, + 0.99862 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.53336, + "euclidean_distance": 1.9304, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.03789, + 0.80557, + 3.87888 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "792bca2f015c482a82fae650dd5607f5", + "path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3L6L49WXW20PFTA59JPZ7O74QG645U", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.80769, + 0.00557, + -1.85171 + ], + "start_rotation": [ + 0, + 0.9298, + 0, + 0.36808 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 12.92977, + "euclidean_distance": 4.90511, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.03945, + 0.00557, + -4.41007 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3IAS3U3I0HJH1VCR6FXOHVAYG1J2BQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.90733, + 0.06068, + 3.52869 + ], + "start_rotation": [ + 0, + 0.66088, + 0, + -0.75049 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.1919, + "euclidean_distance": 5.2501, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.68097, + 0.20557, + -0.18947 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3WR9XG3T65E42XOOXC4W58L0HPY47C", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.524, + 0.00557, + -2.11326 + ], + "start_rotation": [ + 0, + 0.07237, + 0, + -0.99738 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.18778, + "euclidean_distance": 4.47346, + "closest_goal_object_id": 244, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.65546, + 0.20557, + -0.24938 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3WT783CTPDKUZD4T38MUT8JJ9OWBCF", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.72854, + 0.80557, + 3.78275 + ], + "start_rotation": [ + 0, + 0.66443, + 0, + 0.74735 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.23326, + "euclidean_distance": 3.85801, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.0798, + 0.80557, + 0.26652 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A3APKUC67F9IMW:3HVVDCPGTGV7Y2ZFZMV4QTHP1NLTYV", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.80587, + 0.80557, + 3.79867 + ], + "start_rotation": [ + 0, + 0.6562, + 0, + -0.75458 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.32202, + "euclidean_distance": 5.52848, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.65982, + 0.80557, + 0.08236 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3U84XHCDIEGNM7UUG7WFWSEY8EYZ4T", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.56241, + 0.00557, + -1.76397 + ], + "start_rotation": [ + 0, + 0.99743, + 0, + -0.07162 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.20099, + "euclidean_distance": 3.45453, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.84418, + 0.80557, + 0.04332 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "04135640920a4ba2b7dc68c679c43903", + "path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "04135640920a4ba2b7dc68c679c43903", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3E13VNJ1NPYKZI81TLPRYZ46GIXI1X", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.07142, + 0.17629, + 3.83842 + ], + "start_rotation": [ + 0, + 0.69759, + 0, + -0.71649 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.23765, + "euclidean_distance": 1.84329, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.5404, + 0.08577, + 2.68391 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "e4b0794b87994a7699ad7f6ee501d404", + "path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ], + "refined_path": [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3CN4LGXD5ZRNHHKPKLUWIL5XLL3Y4X", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.04579, + 0.139, + 2.50344 + ], + "start_rotation": [ + 0, + 0.20377, + 0, + -0.97902 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.99617, + "euclidean_distance": 8.45509, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.01524, + 0.00557, + -4.32194 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "0_edge_78_newN_0", + "path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3ZGVPD4G6VK73S9KV8XN40QR44MTZQ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.00201, + 0.00557, + -1.60176 + ], + "start_rotation": [ + 0, + 0.71853, + 0, + -0.69549 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 14.10384, + "euclidean_distance": 5.49735, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.65455, + 0.80557, + -0.33747 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3VELCLL3GMM0PR6BSDJ6V2RE3T4F1B", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 3.00287, + 0.80557, + 4.49817 + ], + "start_rotation": [ + 0, + 0.37164, + 0, + 0.92838 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.94045, + "euclidean_distance": 4.6232, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.09239, + 0.80557, + 0.33355 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "c9ac0c98d16a4105a3214989cac149c0", + "path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ], + "refined_path": [ + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3ZOTGHDK5KEUPOIY4ZHGEXN04E5OS8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.05687, + 0.00557, + -4.6081 + ], + "start_rotation": [ + 0, + 0.13364, + 0, + 0.99103 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.53483, + "euclidean_distance": 2.02144, + "closest_goal_object_id": 212, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.05546, + 0.00557, + -2.71728 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ], + "refined_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3S4AW7T80DL3HIDQ1656OD319WY4LN", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.54425, + 0.00557, + 3.4433 + ], + "start_rotation": [ + 0, + 0.97034, + 0, + -0.24173 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 11.22252, + "euclidean_distance": 7.07416, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.38171, + 0.80557, + -0.13262 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3HRMW88U18T6OCDAIHJJCNSCEM4M01", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.56238, + 0.80557, + -1.83524 + ], + "start_rotation": [ + 0, + 0.51422, + 0, + -0.85766 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 7.7836, + "euclidean_distance": 6.69256, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.92722, + 0.80557, + 3.92834 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "755d110c2ed84d76be11ad56ae00b53f", + "path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3WAKVUDHUYJ3JVI3CIVEICJTZHA7U1", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.27515, + 0.00557, + 0.66287 + ], + "start_rotation": [ + 0, + 0.95071, + 0, + 0.31007 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.77934, + "euclidean_distance": 2.69707, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.6393, + 0.80557, + 0.07999 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "aec90a1137d245ed84d8c1b3e809a1d8", + "path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A3F90N8YVKJ4I7:3YDTZAI2WZJQRB9M8WNN4YUNE3S146", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -0.94481, + 0.80557, + 3.06833 + ], + "start_rotation": [ + 0, + 0.66239, + 0, + 0.74916 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 6.46335, + "euclidean_distance": 5.56794, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.77306, + 0.80557, + 0.06553 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "d2600c4cac6445a7b7f0eef51a074043", + "path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3WEV0KO0OOV3LRR9EQ3033B2ED3DSB", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.18127, + 0.11311, + 3.09594 + ], + "start_rotation": [ + 0, + 0.45615, + 0, + -0.8899 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.91825, + "euclidean_distance": 8.86375, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.99531, + 0.00557, + -4.37553 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3UWN2HHPU08C73IM3KH3Z8NWSOSSN9", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.34883, + 0.80557, + -0.54458 + ], + "start_rotation": [ + 0, + 0.79338, + 0, + 0.60873 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.74405, + "euclidean_distance": 11.70308, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.69319, + 0.07933, + 3.07292 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "0_edge_33_newN_2", + "path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "1eac2c379ebf4e059f4a35e584f82f9b", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "0_edge_43_newN_1", + "0_edge_75_newN_1", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "0_edge_72_newN_0", + "0_edge_13_newN_0", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "3362c518d40641d4b95d317186bde71b", + "755d110c2ed84d76be11ad56ae00b53f" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "755d110c2ed84d76be11ad56ae00b53f", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ], + "refined_path": [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + [ + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + [ + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2" + ], + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f" + ], + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + [ + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "30cdb6fe9aa6449788e271f2e24d76ec", + [ + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d" + ], + "0_edge_75_newN_1", + [ + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_72_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "0_edge_13_newN_0", + [ + "aec90a1137d245ed84d8c1b3e809a1d8" + ], + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "755d110c2ed84d76be11ad56ae00b53f", + [ + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_75_newN_1" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:340UGXU9D045ULJZUGYUOQZXZGCUVP", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.43724, + 0.75639, + 4.84443 + ], + "start_rotation": [ + 0, + 0.99792, + 0, + 0.06453 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.31263, + "euclidean_distance": 1.15127, + "closest_goal_object_id": 123, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 4.83077, + 0.80557, + 3.95086 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chair", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3RJSC4XJ12X8G5S4QI2XVLHR6BK05F", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.18289, + 0.00557, + -3.17957 + ], + "start_rotation": [ + 0, + 0.99766, + 0, + 0.06839 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 14.57916, + "euclidean_distance": 4.78564, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.71812, + 0.00557, + -4.75475 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "809153d4577f43e9b2e8115245fbaa2e", + "path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3TK8OJTYM3OS2GB3DUZ0EKCYR8GVP8", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.24072, + 0.80557, + -0.82221 + ], + "start_rotation": [ + 0, + 0.98717, + 0, + -0.15968 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.1364, + "euclidean_distance": 10.31842, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 9.70693, + 0.09143, + 3.23284 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "0_edge_33_newN_0", + "path": [ + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + [ + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1" + ], + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + [ + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd" + ], + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:3C44YUNSI3S68ZBHM9Z68Y6RRZCPDZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 10.6608, + 0.00861, + 2.60228 + ], + "start_rotation": [ + 0, + 0.07306, + 0, + 0.99733 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.91909, + "euclidean_distance": 11.68812, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -0.94255, + 0.80557, + 3.89349 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "9096013c3596463b9c0500520d12fef1", + "path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1" + ], + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e" + ], + "0_edge_75_newN_1", + "800eb666021c4fd2a603dc9d89b8a50d", + "0_edge_17_newN_0", + [ + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311" + ], + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3DZQRBDBSNI53ZPCL1XOQUPQN7ES36", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.44271, + 0.01201, + 2.38989 + ], + "start_rotation": [ + 0, + 0.09961, + 0, + 0.99503 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.78083, + "euclidean_distance": 9.52314, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.04068, + 0.80557, + 3.7962 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + [ + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3TR2532VIRXB1FT4H9M85WAN19H6JC", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 1.70542, + 0.80557, + 2.41494 + ], + "start_rotation": [ + 0, + 0.85144, + 0, + 0.52446 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.48806, + "euclidean_distance": 2.22229, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.05123, + 0.80557, + 0.28273 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "792bca2f015c482a82fae650dd5607f5", + "path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ], + "refined_path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_72_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3W92K5RLWWKO96TKTFQMGE7GMO25VZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 6.82004, + 0.15327, + 2.49095 + ], + "start_rotation": [ + 0, + 0.36056, + 0, + 0.93274 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.19331, + "euclidean_distance": 7.89998, + "closest_goal_object_id": 88, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + -1.00154, + 0.80557, + 3.93199 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_plant", + "start_potision_viewpoint_id": "0_edge_78_newN_0", + "path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3OJSZ2ATDUZMYGSOBHN6A0REEIM754", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 4.74808, + 0.80557, + 4.2903 + ], + "start_rotation": [ + 0, + 0.08747, + 0, + 0.99617 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.72902, + "euclidean_distance": 4.30937, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.69701, + 0.80557, + 0.08558 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "7980b9f903164d48aaee2dbeb5615796", + "path": [ + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3TS1AR6UQSHE0DLDHT0FWCIQPV87FH", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.53413, + 0.0946, + 2.80233 + ], + "start_rotation": [ + 0, + 0.8996, + 0, + -0.43672 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.1839, + "euclidean_distance": 5.55258, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.60401, + 0.20557, + -1.02167 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sink", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "d2600c4cac6445a7b7f0eef51a074043" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3E13VNJ1NPYKZI81TLPRYZ46GO31IY", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 5.76379, + 0.00557, + -0.92238 + ], + "start_rotation": [ + 0, + 0.03944, + 0, + -0.99922 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.10796, + "euclidean_distance": 7.52151, + "closest_goal_object_id": 98, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.111, + 0.80557, + 4.88507 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_13_newN_0", + "path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "0_edge_13_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "04135640920a4ba2b7dc68c679c43903", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + [ + "809153d4577f43e9b2e8115245fbaa2e" + ], + "3362c518d40641d4b95d317186bde71b", + [ + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + [ + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3CFJTT4SXVTYA4N3I160Z9VJM8SI70", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + -1.06471, + 0.80557, + 2.79288 + ], + "start_rotation": [ + 0, + 0.21411, + 0, + 0.97681 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 22.03353, + "euclidean_distance": 15.72642, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.72908, + 0.00557, + -4.77257 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "d2600c4cac6445a7b7f0eef51a074043", + "path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "d2600c4cac6445a7b7f0eef51a074043", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5" + ], + "0_edge_33_newN_0", + "0_edge_29_newN_0", + [ + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3Z7VU45IP0K6U8XBTPDDYU7VY9D1Z3", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.76008, + 0.00557, + -4.42254 + ], + "start_rotation": [ + 0, + 0.40615, + 0, + -0.91381 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.31513, + "euclidean_distance": 2.03465, + "closest_goal_object_id": 162, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.67973, + 0.00557, + -6.00597 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + [ + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3ZAZR5XV03LQHB799M2XFQQMZG5CZM", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.90846, + 0.00557, + -5.09655 + ], + "start_rotation": [ + 0, + 0.07417, + 0, + 0.99725 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.49087, + "euclidean_distance": 1.5919, + "closest_goal_object_id": 173, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.55328, + 0.00557, + -5.9237 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_chest_of_drawers", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ], + "refined_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:33CID57106WIZMUM1S0NE8BVVHU3LZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 0.87282, + 0.80557, + 1.86237 + ], + "start_rotation": [ + 0, + 0.74572, + 0, + -0.66626 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.60222, + "euclidean_distance": 13.58418, + "closest_goal_object_id": 191, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.71646, + 0.00557, + -4.81182 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_shower", + "start_potision_viewpoint_id": "792bca2f015c482a82fae650dd5607f5", + "path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "0_edge_33_newN_2", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + [ + "792bca2f015c482a82fae650dd5607f5" + ], + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "0_edge_33_newN_2", + [ + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f" + ], + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "0_edge_78_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3EG49X351WFCWZYTYD19W5I2F5R6XU", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.56963, + 0.09138, + 1.34659 + ], + "start_rotation": [ + 0, + 0.95662, + 0, + 0.29133 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 10.77017, + "euclidean_distance": 5.31467, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 2.50938, + 0.80557, + -0.12455 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_bed", + "start_potision_viewpoint_id": "0_edge_72_newN_0", + "path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ], + "refined_path": [ + "0_edge_72_newN_0", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3OLQQLKKNUSFEUMJNR56HK205X4JEC", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 13.40399, + 0.00557, + -4.69905 + ], + "start_rotation": [ + 0, + 0.32397, + 0, + 0.94607 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.45454, + "euclidean_distance": 5.65887, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.927, + 0.20557, + 0.5997 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_picture", + "start_potision_viewpoint_id": "a59a3a61089343a8ba2834e7d3cd1066", + "path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "1eac2c379ebf4e059f4a35e584f82f9b", + "6ab11272308c46068c9ae583da8ff311", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "0_edge_17_newN_1" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "6ab11272308c46068c9ae583da8ff311", + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ], + "refined_path": [ + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c", + [ + "8554983cf79243f6bfb0f6fa8950e8a5" + ], + "b000c5baa76b454caa1c58c9aac585f6", + "6f8d55f24a85428894e82cb9f5f082d6", + [ + "b000c5baa76b454caa1c58c9aac585f6", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066", + "8554983cf79243f6bfb0f6fa8950e8a5", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "97739a403b984dcd8253741a073b18dd", + "0_edge_43_newN_1", + [ + "abbdc7ac89204f23a935fcb9ccae887c", + "97739a403b984dcd8253741a073b18dd" + ], + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "0_edge_75_newN_1", + [ + "39791f422b0244aa84b3d41d9b218f7e" + ], + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "ba19aada2e9a47839c0355085f70f7c5", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + [ + "ba19aada2e9a47839c0355085f70f7c5" + ], + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "d6d4416592a0483691a1ed7d3b336a1a", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b" + ], + "1eac2c379ebf4e059f4a35e584f82f9b", + [ + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "ba19aada2e9a47839c0355085f70f7c5", + "0_edge_33_newN_0", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca" + ], + "6ab11272308c46068c9ae583da8ff311", + [ + "4547d37b305e41bdad0de45ade6971ca", + "48a2541fc50b4a57a609698e2375e9b1", + "792bca2f015c482a82fae650dd5607f5", + "3da7e4f299e74a429ca5d336deb2a96f", + "0_edge_44_newN_0", + "c9ac0c98d16a4105a3214989cac149c0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8" + ], + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "0_edge_12_newN_0", + "809153d4577f43e9b2e8115245fbaa2e", + "3362c518d40641d4b95d317186bde71b", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "abbdc7ac89204f23a935fcb9ccae887c", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "3362c518d40641d4b95d317186bde71b", + "809153d4577f43e9b2e8115245fbaa2e", + "0_edge_12_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862" + ] + ] + }, + { + "episode_id": "A272X64FOZFYLB:3UNH76FOCU83L79VQPUS4FMX4CAMYZ", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 12.03779, + 0.00557, + -2.50354 + ], + "start_rotation": [ + 0, + 0.74499, + 0, + -0.66707 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 2.87751, + "euclidean_distance": 2.66454, + "closest_goal_object_id": 184, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.82491, + 0.00557, + -4.96681 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "abbdc7ac89204f23a935fcb9ccae887c", + "path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3RKNTXVS3O1MLZMM4FGGFZNQIT74AY", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 7.34241, + 0.11592, + 4.64082 + ], + "start_rotation": [ + 0, + 0.98358, + 0, + -0.18047 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 9.27206, + "euclidean_distance": 8.52813, + "closest_goal_object_id": 217, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.33735, + 0.00557, + -2.12447 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_cushion", + "start_potision_viewpoint_id": "9e3bb94fbf7f4dc0a74911414ca95753", + "path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "373c50dfa27649188f8e5b66c28f10a7", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_0" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "373c50dfa27649188f8e5b66c28f10a7", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "9e3bb94fbf7f4dc0a74911414ca95753", + "fb270f4e72dd40159a4d4fc5db263fc8", + [ + "9e3bb94fbf7f4dc0a74911414ca95753" + ], + "7980b9f903164d48aaee2dbeb5615796", + "0_edge_78_newN_0", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "373c50dfa27649188f8e5b66c28f10a7", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2", + "0_edge_29_newN_0", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0" + ], + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A272X64FOZFYLB:37QW5D2ZRIPR4WVIXISKHBX13M0S8E", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.35815, + 0.80557, + 3.56258 + ], + "start_rotation": [ + 0, + 0.18434, + 0, + 0.98286 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 6.30222, + "euclidean_distance": 3.74122, + "closest_goal_object_id": 28, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 3.63776, + 0.80557, + 0.04881 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_towel", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0", + "ba19aada2e9a47839c0355085f70f7c5", + "9a2945c3ffdf4dc6aa8ff34e0ad42c0b", + "1eac2c379ebf4e059f4a35e584f82f9b" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3URFVVM167LM35O9VDNX9WCTAI5ZUM", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.29049, + 0.02584, + 2.77875 + ], + "start_rotation": [ + 0, + 0.98853, + 0, + -0.15103 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.65379, + "euclidean_distance": 4.4543, + "closest_goal_object_id": 251, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 11.61227, + 0.20557, + -0.27653 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_counter", + "start_potision_viewpoint_id": "fb270f4e72dd40159a4d4fc5db263fc8", + "path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ], + "refined_path": [ + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + [ + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1" + ], + "0_edge_17_newN_0", + "800eb666021c4fd2a603dc9d89b8a50d", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3TYCR1GOTEMJKF1FMZVWI9G9WJRZLO", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 9.01296, + 0.00557, + 0.64221 + ], + "start_rotation": [ + 0, + 0.69496, + 0, + -0.71905 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.98481, + "euclidean_distance": 5.80929, + "closest_goal_object_id": 185, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 12.05822, + 0.00557, + -4.3454 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_toilet", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + "6cba04f9e76f463094dd2a6ff64d1e9f", + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "0_edge_72_newN_0", + [ + "6cba04f9e76f463094dd2a6ff64d1e9f" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "8554983cf79243f6bfb0f6fa8950e8a5", + "a59a3a61089343a8ba2834e7d3cd1066" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3X66WABAJYL2DUGLQ1371G6NZUXG3J", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 8.88251, + 0.00557, + 1.40317 + ], + "start_rotation": [ + 0, + 0.67682, + 0, + -0.73615 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.7211, + "euclidean_distance": 8.26555, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 0.75177, + 0.80557, + 0.15633 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_sofa", + "start_potision_viewpoint_id": "6cba04f9e76f463094dd2a6ff64d1e9f", + "path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404", + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + "7980b9f903164d48aaee2dbeb5615796", + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ], + "refined_path": [ + "6cba04f9e76f463094dd2a6ff64d1e9f", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + [ + "e4b0794b87994a7699ad7f6ee501d404" + ], + "9096013c3596463b9c0500520d12fef1", + "39791f422b0244aa84b3d41d9b218f7e", + "3182b6eba9ce405f9e1c0af86cc6b862", + "97739a403b984dcd8253741a073b18dd", + "abbdc7ac89204f23a935fcb9ccae887c", + "0_edge_43_newN_1", + [ + "97739a403b984dcd8253741a073b18dd", + "3182b6eba9ce405f9e1c0af86cc6b862", + "39791f422b0244aa84b3d41d9b218f7e", + "9096013c3596463b9c0500520d12fef1", + "e4b0794b87994a7699ad7f6ee501d404", + "0_edge_17_newN_1", + "e4b0794b87994a7699ad7f6ee501d404" + ], + "fb270f4e72dd40159a4d4fc5db263fc8", + "aec90a1137d245ed84d8c1b3e809a1d8", + "0_edge_78_newN_0", + "7980b9f903164d48aaee2dbeb5615796", + "9e3bb94fbf7f4dc0a74911414ca95753", + [ + "7980b9f903164d48aaee2dbeb5615796" + ], + "c9ac0c98d16a4105a3214989cac149c0", + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_0" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3C6FJU71TSWMYFE4ZRLEVP3RK1SYUR", + "scene_id": "mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb", + "start_position": [ + 2.68215, + 0.80557, + 3.1647 + ], + "start_rotation": [ + 0, + 0.58978, + 0, + -0.80756 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.93467, + "euclidean_distance": 3.28211, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -2.48653, + -0.19443, + -8.94144 + ], + [ + 14.78012, + 8.74115, + 5.70601 + ] + ], + "best_viewpoint_position": [ + 1.00122, + 0.80557, + 0.37727 + ] + }, + "goals": [], + "goals_key": "jh4fc5c5qoQ.glb_table", + "start_potision_viewpoint_id": "0_edge_44_newN_0", + "path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + "0_edge_33_newN_2" + ], + "refined_path": [ + "0_edge_44_newN_0", + "3da7e4f299e74a429ca5d336deb2a96f", + "792bca2f015c482a82fae650dd5607f5", + "48a2541fc50b4a57a609698e2375e9b1", + "4547d37b305e41bdad0de45ade6971ca", + "0_edge_29_newN_0", + "0_edge_33_newN_2", + "cf7dde32a96d412791ca901207e4f3dd", + [ + "0_edge_33_newN_2" + ] + ] + } +] \ No newline at end of file