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"mp3d/GdvgFV5R1Z5/GdvgFV5R1Z5.glb", "start_position": [ -2.36982, 0.16667, 2.50866 ], "start_rotation": [ 0, 0.71415, 0, -0.69999 ], "object_category": "cabinet", "info": { "geodesic_distance": 1.47855, "euclidean_distance": 1.25849, "closest_goal_object_id": 92, "navigation_bounds": [ [ -6.75585, -0.03333, -3.5271 ], [ 0.50149, 5.48078, 3.72954 ] ], "best_viewpoint_position": [ -3.22979, 0.16667, 3.2679 ] }, "goals_key": "GdvgFV5R1Z5.glb_cabinet", "start_potision_viewpoint_id": "0b02e18654324edd8d74c078b66bfb20", "path": [ "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "565cc21cd28b4ee6bb5ba83c5270c032" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "565cc21cd28b4ee6bb5ba83c5270c032" ], "refined_path": [ "0b02e18654324edd8d74c078b66bfb20", 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1.15804, "euclidean_distance": 1.05733, "closest_goal_object_id": 16, "navigation_bounds": [ [ -6.75585, -0.03333, -3.5271 ], [ 0.50149, 5.48078, 3.72954 ] ], "best_viewpoint_position": [ -2.71513, 0.18376, 0.15127 ] }, "goals_key": "GdvgFV5R1Z5.glb_sink", "start_potision_viewpoint_id": "86d342c576ff46a9828d2ba377cc8cd5", "path": [ "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "565cc21cd28b4ee6bb5ba83c5270c032" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "565cc21cd28b4ee6bb5ba83c5270c032" ], "refined_path": [ "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "565cc21cd28b4ee6bb5ba83c5270c032" ] }, { "episode_id": "AKYXQY5IP7S0Z:3GU1KF0O4K4DT2DX8D80D8IR1U2PB3", "scene_id": "mp3d/GdvgFV5R1Z5/GdvgFV5R1Z5.glb", "start_position": [ -6.0613, 0.16667, -0.87076 ], "start_rotation": [ 0, 0.66325, 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"info": { "geodesic_distance": 1.01583, "euclidean_distance": 0.90163, "closest_goal_object_id": 93, "navigation_bounds": [ [ -6.75585, -0.03333, -3.5271 ], [ 0.50149, 5.48078, 3.72954 ] ], "best_viewpoint_position": [ -4.04902, 0.16667, 2.77078 ] }, "goals_key": "GdvgFV5R1Z5.glb_sink", "start_potision_viewpoint_id": "97ed68de989e44fdaf2d9b949898fab6", "path": [ "97ed68de989e44fdaf2d9b949898fab6", "1db1c0a09ecf40d188197efc05ced3bb", "ef638e508e054c4aabd49b38d1b88fc7" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "97ed68de989e44fdaf2d9b949898fab6", "1db1c0a09ecf40d188197efc05ced3bb", "ef638e508e054c4aabd49b38d1b88fc7" ], "refined_path": [ "97ed68de989e44fdaf2d9b949898fab6", "1db1c0a09ecf40d188197efc05ced3bb", "ef638e508e054c4aabd49b38d1b88fc7" ] }, { "episode_id": "A16K7X677N4WN6:3KXIR214I6JXGWRIR0N19H4SGVD42F", "scene_id": "mp3d/GdvgFV5R1Z5/GdvgFV5R1Z5.glb", "start_position": [ -4.13559, 0.16667, 0.25337 ], 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"97ed68de989e44fdaf2d9b949898fab6", "path": [ "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "5fd70cff4992429a99a84fd3c117ccb5" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "5fd70cff4992429a99a84fd3c117ccb5" ], "refined_path": [ "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "5fd70cff4992429a99a84fd3c117ccb5" ] }, { "episode_id": "A1P3HHEXWNLJMP:3DL65MZB8FIS6GGDDZOKUGP56D6CET", "scene_id": "mp3d/GdvgFV5R1Z5/GdvgFV5R1Z5.glb", "start_position": [ -4.13057, 0.16667, 2.78501 ], "start_rotation": [ 0, 0.59832, 0, 0.80126 ], "object_category": "picture", "info": { "geodesic_distance": 3.83425, "euclidean_distance": 3.50138, "closest_goal_object_id": 80, "navigation_bounds": [ [ -6.75585, -0.03333, -3.5271 ], [ 0.50149, 5.48078, 3.72954 ] ], "best_viewpoint_position": [ -0.76408, 0.54273, 1.91469 ] }, "goals_key": "GdvgFV5R1Z5.glb_picture", "start_potision_viewpoint_id": "1db1c0a09ecf40d188197efc05ced3bb", "path": [ "1db1c0a09ecf40d188197efc05ced3bb", "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "1db1c0a09ecf40d188197efc05ced3bb", "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "86d342c576ff46a9828d2ba377cc8cd5" ], "refined_path": [ "1db1c0a09ecf40d188197efc05ced3bb", "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", 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"GdvgFV5R1Z5.glb_stool", "start_potision_viewpoint_id": "5fd70cff4992429a99a84fd3c117ccb5", "path": [ "5fd70cff4992429a99a84fd3c117ccb5", "aebb1de49d21485e8bef7633dfb58761", "86d342c576ff46a9828d2ba377cc8cd5", "0b02e18654324edd8d74c078b66bfb20", "97ed68de989e44fdaf2d9b949898fab6" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "5fd70cff4992429a99a84fd3c117ccb5", "aebb1de49d21485e8bef7633dfb58761", "86d342c576ff46a9828d2ba377cc8cd5", "0b02e18654324edd8d74c078b66bfb20", "97ed68de989e44fdaf2d9b949898fab6" ], "refined_path": [ "5fd70cff4992429a99a84fd3c117ccb5", "aebb1de49d21485e8bef7633dfb58761", "86d342c576ff46a9828d2ba377cc8cd5", "0b02e18654324edd8d74c078b66bfb20", "97ed68de989e44fdaf2d9b949898fab6" ] }, { "episode_id": "A3TN1QCPUCJZBF:32EYX73OY2CD1E2ILWTKNTAUS5VRUT", "scene_id": "mp3d/GdvgFV5R1Z5/GdvgFV5R1Z5.glb", "start_position": [ -2.81686, 0.16667, 3.18009 ], "start_rotation": [ 0, 0.01209, 0, 0.99993 ], "object_category": "bed", "info": { "geodesic_distance": 3.51582, "euclidean_distance": 3.29659, "closest_goal_object_id": 35, "navigation_bounds": [ [ -6.75585, -0.03333, -3.5271 ], [ 0.50149, 5.48078, 3.72954 ] ], "best_viewpoint_position": [ -2.09196, 0.16667, 0.02423 ] }, "goals_key": "GdvgFV5R1Z5.glb_bed", "start_potision_viewpoint_id": "97ed68de989e44fdaf2d9b949898fab6", "path": [ "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "6178647ca8d14dc09370f6c1b7ed2fd6" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "6178647ca8d14dc09370f6c1b7ed2fd6" ], "refined_path": [ "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "6178647ca8d14dc09370f6c1b7ed2fd6" ] }, { "episode_id": "A3RR85PK3AV9TU:3TS1AR6UQSHE0DLDHT0FWCIRH7KF7J", "scene_id": "mp3d/GdvgFV5R1Z5/GdvgFV5R1Z5.glb", "start_position": [ -0.3342, 0.16667, -0.11164 ], "start_rotation": [ 0, 0.14599, 0, -0.98929 ], "object_category": "picture", "info": { "geodesic_distance": 2.21229, "euclidean_distance": 2.03336, "closest_goal_object_id": 80, "navigation_bounds": [ [ -6.75585, -0.03333, -3.5271 ], [ 0.50149, 5.48078, 3.72954 ] ], "best_viewpoint_position": [ -0.85074, 0.52888, 1.91714 ] }, "goals_key": "GdvgFV5R1Z5.glb_picture", "start_potision_viewpoint_id": "5fd70cff4992429a99a84fd3c117ccb5", "path": [ "5fd70cff4992429a99a84fd3c117ccb5", "aebb1de49d21485e8bef7633dfb58761", "86d342c576ff46a9828d2ba377cc8cd5" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "5fd70cff4992429a99a84fd3c117ccb5", "aebb1de49d21485e8bef7633dfb58761", "86d342c576ff46a9828d2ba377cc8cd5" ], "refined_path": [ "5fd70cff4992429a99a84fd3c117ccb5", "aebb1de49d21485e8bef7633dfb58761", "86d342c576ff46a9828d2ba377cc8cd5" ] }, { "episode_id": "A1P3HHEXWNLJMP:3W8CV64QJ422SS0CRGMZDTLAR1PH9C", "scene_id": "mp3d/GdvgFV5R1Z5/GdvgFV5R1Z5.glb", "start_position": [ -2.68509, 0.16667, 3.24115 ], "start_rotation": [ 0, 0.81885, 0, -0.57401 ], "object_category": "sink", "info": { "geodesic_distance": 1.60246, "euclidean_distance": 1.40598, "closest_goal_object_id": 93, "navigation_bounds": [ [ -6.75585, -0.03333, -3.5271 ], [ 0.50149, 5.48078, 3.72954 ] ], "best_viewpoint_position": [ -3.97128, 0.16667, 2.85623 ] }, "goals_key": "GdvgFV5R1Z5.glb_sink", "start_potision_viewpoint_id": "0b02e18654324edd8d74c078b66bfb20", "path": [ "0b02e18654324edd8d74c078b66bfb20", "97ed68de989e44fdaf2d9b949898fab6", "1db1c0a09ecf40d188197efc05ced3bb", "ef638e508e054c4aabd49b38d1b88fc7" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 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0.16667, 2.68416 ] }, "goals_key": "GdvgFV5R1Z5.glb_sink", "start_potision_viewpoint_id": "0b02e18654324edd8d74c078b66bfb20", "path": [ "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "565cc21cd28b4ee6bb5ba83c5270c032" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "565cc21cd28b4ee6bb5ba83c5270c032" ], "refined_path": [ "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "565cc21cd28b4ee6bb5ba83c5270c032" ] }, { "episode_id": "ACM3TPZKLE7WC:3WLEIWSYHQKRS8FD677K36DWM20H2K", "scene_id": "mp3d/GdvgFV5R1Z5/GdvgFV5R1Z5.glb", "start_position": [ -2.9129, 0.16667, 3.23609 ], "start_rotation": [ 0, 0.94354, 0, 0.33127 ], "object_category": "bed", "info": { "geodesic_distance": 3.62685, "euclidean_distance": 3.36923, "closest_goal_object_id": 35, "navigation_bounds": [ [ -6.75585, -0.03333, -3.5271 ], [ 0.50149, 5.48078, 3.72954 ] ], "best_viewpoint_position": [ -2.10484, 0.16667, -0.01163 ] }, "goals_key": "GdvgFV5R1Z5.glb_bed", "start_potision_viewpoint_id": "97ed68de989e44fdaf2d9b949898fab6", "path": [ "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761" ], "refined_path": [ "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761" ] }, { "episode_id": "A3NFGEUZAH9V5G:3JJVG1YBED090SVEOYZMF2DAB24B5N", "scene_id": "mp3d/GdvgFV5R1Z5/GdvgFV5R1Z5.glb", 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"GdvgFV5R1Z5.glb_chest_of_drawers", "start_potision_viewpoint_id": "97ed68de989e44fdaf2d9b949898fab6", "path": [ "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "565cc21cd28b4ee6bb5ba83c5270c032", "5fd70cff4992429a99a84fd3c117ccb5", "6178647ca8d14dc09370f6c1b7ed2fd6" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "565cc21cd28b4ee6bb5ba83c5270c032", "aebb1de49d21485e8bef7633dfb58761", "5fd70cff4992429a99a84fd3c117ccb5", "aebb1de49d21485e8bef7633dfb58761", "565cc21cd28b4ee6bb5ba83c5270c032", "6178647ca8d14dc09370f6c1b7ed2fd6" ], "refined_path": [ "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", 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-1.40576, 0.46223, 2.31154 ], "start_rotation": [ 0, 0.48664, 0, -0.8736 ], "object_category": "sink", "info": { "geodesic_distance": 2.68539, "euclidean_distance": 2.51549, "closest_goal_object_id": 16, "navigation_bounds": [ [ -6.75585, -0.03333, -3.5271 ], [ 0.50149, 5.48078, 3.72954 ] ], "best_viewpoint_position": [ -2.6834, 0.19079, 0.09643 ] }, "goals_key": "GdvgFV5R1Z5.glb_sink", "start_potision_viewpoint_id": "86d342c576ff46a9828d2ba377cc8cd5", "path": [ "86d342c576ff46a9828d2ba377cc8cd5", "0b02e18654324edd8d74c078b66bfb20", "97ed68de989e44fdaf2d9b949898fab6", "1db1c0a09ecf40d188197efc05ced3bb", "ef638e508e054c4aabd49b38d1b88fc7" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "86d342c576ff46a9828d2ba377cc8cd5", "0b02e18654324edd8d74c078b66bfb20", "97ed68de989e44fdaf2d9b949898fab6", "1db1c0a09ecf40d188197efc05ced3bb", "ef638e508e054c4aabd49b38d1b88fc7" ], "refined_path": [ "86d342c576ff46a9828d2ba377cc8cd5", 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-3.12969, 0.23613, -0.55455 ] }, "goals_key": "GdvgFV5R1Z5.glb_cabinet", "start_potision_viewpoint_id": "6178647ca8d14dc09370f6c1b7ed2fd6", "path": [ "6178647ca8d14dc09370f6c1b7ed2fd6", "565cc21cd28b4ee6bb5ba83c5270c032", "0d8c5fbfd73f44e28d6da370520611e4" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "6178647ca8d14dc09370f6c1b7ed2fd6", "565cc21cd28b4ee6bb5ba83c5270c032", "0d8c5fbfd73f44e28d6da370520611e4" ], "refined_path": [ "6178647ca8d14dc09370f6c1b7ed2fd6", "565cc21cd28b4ee6bb5ba83c5270c032", "0d8c5fbfd73f44e28d6da370520611e4" ] }, { "episode_id": "A1ATL3G98SFW4V:3Z4AIRP3C8GHPDXWS7PS19RLIOZX1A", "scene_id": "mp3d/GdvgFV5R1Z5/GdvgFV5R1Z5.glb", "start_position": [ -1.8524, 0.38125, -2.22087 ], "start_rotation": [ 0, 0.33782, 0, 0.94121 ], "object_category": "sink", "info": { "geodesic_distance": 2.51098, "euclidean_distance": 2.51098, "closest_goal_object_id": 16, "navigation_bounds": [ [ -6.75585, -0.03333, -3.5271 ], [ 0.50149, 5.48078, 3.72954 ] ], "best_viewpoint_position": [ -2.93909, 0.2097, -0.02971 ] }, "goals_key": "GdvgFV5R1Z5.glb_sink", "start_potision_viewpoint_id": "6178647ca8d14dc09370f6c1b7ed2fd6", "path": [ "6178647ca8d14dc09370f6c1b7ed2fd6", "aebb1de49d21485e8bef7633dfb58761", "565cc21cd28b4ee6bb5ba83c5270c032" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "6178647ca8d14dc09370f6c1b7ed2fd6", "aebb1de49d21485e8bef7633dfb58761", "6178647ca8d14dc09370f6c1b7ed2fd6", "565cc21cd28b4ee6bb5ba83c5270c032" ], "refined_path": [ "6178647ca8d14dc09370f6c1b7ed2fd6", "aebb1de49d21485e8bef7633dfb58761", [ "6178647ca8d14dc09370f6c1b7ed2fd6" ], "565cc21cd28b4ee6bb5ba83c5270c032" ] }, { "episode_id": "A1P3HHEXWNLJMP:3G5F9DBFOR00PZDFUHRV5BA7J3BVHU", "scene_id": "mp3d/GdvgFV5R1Z5/GdvgFV5R1Z5.glb", "start_position": [ -3.281, 0.16818, 0.30372 ], "start_rotation": [ 0, 0.9989, 0, -0.04692 ], "object_category": "picture", "info": 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"aebb1de49d21485e8bef7633dfb58761", "565cc21cd28b4ee6bb5ba83c5270c032", "6178647ca8d14dc09370f6c1b7ed2fd6" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "1db1c0a09ecf40d188197efc05ced3bb", "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "565cc21cd28b4ee6bb5ba83c5270c032", "6178647ca8d14dc09370f6c1b7ed2fd6" ], "refined_path": [ "1db1c0a09ecf40d188197efc05ced3bb", "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "565cc21cd28b4ee6bb5ba83c5270c032", "6178647ca8d14dc09370f6c1b7ed2fd6" ] }, { "episode_id": "A35NXCD0VE2I69:30IQTZXKAM9HIOCEWOLSN48BDXA0XT", "scene_id": "mp3d/GdvgFV5R1Z5/GdvgFV5R1Z5.glb", "start_position": [ -3.59613, 0.16667, -2.64739 ], "start_rotation": [ 0, 0.35461, 0, -0.93501 ], "object_category": "stool", 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"0b02e18654324edd8d74c078b66bfb20", "97ed68de989e44fdaf2d9b949898fab6" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "565cc21cd28b4ee6bb5ba83c5270c032", "aebb1de49d21485e8bef7633dfb58761", "86d342c576ff46a9828d2ba377cc8cd5", "0b02e18654324edd8d74c078b66bfb20", "97ed68de989e44fdaf2d9b949898fab6" ], "refined_path": [ "565cc21cd28b4ee6bb5ba83c5270c032", "aebb1de49d21485e8bef7633dfb58761", "86d342c576ff46a9828d2ba377cc8cd5", "0b02e18654324edd8d74c078b66bfb20", "97ed68de989e44fdaf2d9b949898fab6" ] }, { "episode_id": "A1P3HHEXWNLJMP:3AAJC4I4FIVDPPDFJEJJ2U3IK6FJZH", "scene_id": "mp3d/GdvgFV5R1Z5/GdvgFV5R1Z5.glb", "start_position": [ -4.29728, 0.16667, -0.37748 ], "start_rotation": [ 0, 0.04873, 0, 0.99881 ], "object_category": "toilet", "info": { "geodesic_distance": 5.79198, "euclidean_distance": 3.6433, "closest_goal_object_id": 86, "navigation_bounds": [ [ -6.75585, -0.03333, -3.5271 ], [ 0.50149, 5.48078, 3.72954 ] ], "best_viewpoint_position": [ -3.48101, 0.16667, 3.26791 ] }, "goals_key": "GdvgFV5R1Z5.glb_toilet", "start_potision_viewpoint_id": "565cc21cd28b4ee6bb5ba83c5270c032", "path": [ "565cc21cd28b4ee6bb5ba83c5270c032", "aebb1de49d21485e8bef7633dfb58761", "86d342c576ff46a9828d2ba377cc8cd5", "0b02e18654324edd8d74c078b66bfb20", "97ed68de989e44fdaf2d9b949898fab6", "1db1c0a09ecf40d188197efc05ced3bb" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "565cc21cd28b4ee6bb5ba83c5270c032", "aebb1de49d21485e8bef7633dfb58761", "86d342c576ff46a9828d2ba377cc8cd5", "0b02e18654324edd8d74c078b66bfb20", "97ed68de989e44fdaf2d9b949898fab6", "1db1c0a09ecf40d188197efc05ced3bb" ], "refined_path": [ "565cc21cd28b4ee6bb5ba83c5270c032", "aebb1de49d21485e8bef7633dfb58761", "86d342c576ff46a9828d2ba377cc8cd5", "0b02e18654324edd8d74c078b66bfb20", "97ed68de989e44fdaf2d9b949898fab6", "1db1c0a09ecf40d188197efc05ced3bb" ] }, { "episode_id": "AZPZDX26SYMFY:32XVDSJFP10DKMGOX4NXVBLS2L0M2S", "scene_id": "mp3d/GdvgFV5R1Z5/GdvgFV5R1Z5.glb", "start_position": [ -4.25567, 0.16667, 2.4724 ], "start_rotation": [ 0, 0.99212, 0, 0.12529 ], "object_category": "cushion", "info": { "geodesic_distance": 5.72992, "euclidean_distance": 4.59056, "closest_goal_object_id": 33, "navigation_bounds": [ [ -6.75585, -0.03333, -3.5271 ], [ 0.50149, 5.48078, 3.72954 ] ], "best_viewpoint_position": [ -0.49938, 0.16667, 0.13597 ] }, "goals_key": "GdvgFV5R1Z5.glb_cushion", "start_potision_viewpoint_id": "ef638e508e054c4aabd49b38d1b88fc7", "path": [ "ef638e508e054c4aabd49b38d1b88fc7", "1db1c0a09ecf40d188197efc05ced3bb", "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "5fd70cff4992429a99a84fd3c117ccb5" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ 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0.16667, 3.06908 ] }, "goals_key": "GdvgFV5R1Z5.glb_stool", "start_potision_viewpoint_id": "0d8c5fbfd73f44e28d6da370520611e4", "path": [ "0d8c5fbfd73f44e28d6da370520611e4", "565cc21cd28b4ee6bb5ba83c5270c032", "6178647ca8d14dc09370f6c1b7ed2fd6", "aebb1de49d21485e8bef7633dfb58761", "5fd70cff4992429a99a84fd3c117ccb5", "86d342c576ff46a9828d2ba377cc8cd5", "0b02e18654324edd8d74c078b66bfb20", "97ed68de989e44fdaf2d9b949898fab6" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "0d8c5fbfd73f44e28d6da370520611e4", "565cc21cd28b4ee6bb5ba83c5270c032", "6178647ca8d14dc09370f6c1b7ed2fd6", "565cc21cd28b4ee6bb5ba83c5270c032", "6178647ca8d14dc09370f6c1b7ed2fd6", "565cc21cd28b4ee6bb5ba83c5270c032", "6178647ca8d14dc09370f6c1b7ed2fd6", "aebb1de49d21485e8bef7633dfb58761", "5fd70cff4992429a99a84fd3c117ccb5", "86d342c576ff46a9828d2ba377cc8cd5", "0b02e18654324edd8d74c078b66bfb20", "97ed68de989e44fdaf2d9b949898fab6" ], "refined_path": [ 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"86d342c576ff46a9828d2ba377cc8cd5", "5fd70cff4992429a99a84fd3c117ccb5", "aebb1de49d21485e8bef7633dfb58761", "0b02e18654324edd8d74c078b66bfb20", "97ed68de989e44fdaf2d9b949898fab6", "1db1c0a09ecf40d188197efc05ced3bb" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "86d342c576ff46a9828d2ba377cc8cd5", "5fd70cff4992429a99a84fd3c117ccb5", "aebb1de49d21485e8bef7633dfb58761", "86d342c576ff46a9828d2ba377cc8cd5", "0b02e18654324edd8d74c078b66bfb20", "97ed68de989e44fdaf2d9b949898fab6", "1db1c0a09ecf40d188197efc05ced3bb", "97ed68de989e44fdaf2d9b949898fab6" ], "refined_path": [ "86d342c576ff46a9828d2ba377cc8cd5", "5fd70cff4992429a99a84fd3c117ccb5", "aebb1de49d21485e8bef7633dfb58761", [ "86d342c576ff46a9828d2ba377cc8cd5" ], "0b02e18654324edd8d74c078b66bfb20", "97ed68de989e44fdaf2d9b949898fab6", "1db1c0a09ecf40d188197efc05ced3bb", [ "97ed68de989e44fdaf2d9b949898fab6" ] ] }, { "episode_id": 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"97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "5fd70cff4992429a99a84fd3c117ccb5" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "ef638e508e054c4aabd49b38d1b88fc7", "1db1c0a09ecf40d188197efc05ced3bb", "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "5fd70cff4992429a99a84fd3c117ccb5" ], "refined_path": [ "ef638e508e054c4aabd49b38d1b88fc7", "1db1c0a09ecf40d188197efc05ced3bb", "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "5fd70cff4992429a99a84fd3c117ccb5" ] }, { "episode_id": "A2L26DMSVUEDP6:30BXRYBRP60D4ODKKRWRRDTLCLZHWG", "scene_id": "mp3d/GdvgFV5R1Z5/GdvgFV5R1Z5.glb", "start_position": [ -1.75641, 0.16667, 2.27316 ], "start_rotation": [ 0, 0.34663, 0, -0.938 ], "object_category": "picture", "info": { "geodesic_distance": 1.20786, 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"path": [ "ef638e508e054c4aabd49b38d1b88fc7", "1db1c0a09ecf40d188197efc05ced3bb", "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "565cc21cd28b4ee6bb5ba83c5270c032", "6178647ca8d14dc09370f6c1b7ed2fd6" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "ef638e508e054c4aabd49b38d1b88fc7", "1db1c0a09ecf40d188197efc05ced3bb", "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "565cc21cd28b4ee6bb5ba83c5270c032", "6178647ca8d14dc09370f6c1b7ed2fd6", "565cc21cd28b4ee6bb5ba83c5270c032", "6178647ca8d14dc09370f6c1b7ed2fd6" ], "refined_path": [ "ef638e508e054c4aabd49b38d1b88fc7", "1db1c0a09ecf40d188197efc05ced3bb", "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", 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"Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "6178647ca8d14dc09370f6c1b7ed2fd6", "565cc21cd28b4ee6bb5ba83c5270c032", "aebb1de49d21485e8bef7633dfb58761", "86d342c576ff46a9828d2ba377cc8cd5", "0b02e18654324edd8d74c078b66bfb20", "97ed68de989e44fdaf2d9b949898fab6", "1db1c0a09ecf40d188197efc05ced3bb", "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "97ed68de989e44fdaf2d9b949898fab6", "1db1c0a09ecf40d188197efc05ced3bb", "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "97ed68de989e44fdaf2d9b949898fab6" ], "refined_path": [ "6178647ca8d14dc09370f6c1b7ed2fd6", "565cc21cd28b4ee6bb5ba83c5270c032", "aebb1de49d21485e8bef7633dfb58761", "86d342c576ff46a9828d2ba377cc8cd5", "0b02e18654324edd8d74c078b66bfb20", "97ed68de989e44fdaf2d9b949898fab6", "1db1c0a09ecf40d188197efc05ced3bb", [ "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "97ed68de989e44fdaf2d9b949898fab6", 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"86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", [ "86d342c576ff46a9828d2ba377cc8cd5" ], "0b02e18654324edd8d74c078b66bfb20", "97ed68de989e44fdaf2d9b949898fab6", "1db1c0a09ecf40d188197efc05ced3bb", "ef638e508e054c4aabd49b38d1b88fc7" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3LRLIPTPESC7Z1BPP73WMGCMFG9KAI", "scene_id": "mp3d/GdvgFV5R1Z5/GdvgFV5R1Z5.glb", "start_position": [ -3.5278, 0.16667, 0.2088 ], "start_rotation": [ 0, 0.99778, 0, 0.06657 ], "object_category": "table", "info": { "geodesic_distance": 1.33795, "euclidean_distance": 1.27261, "closest_goal_object_id": 68, "navigation_bounds": [ [ -6.75585, -0.03333, -3.5271 ], [ 0.50149, 5.48078, 3.72954 ] ], "best_viewpoint_position": [ -2.28131, 0.16667, 0.502 ] }, "goals": [], "goals_key": "GdvgFV5R1Z5.glb_table", "start_potision_viewpoint_id": "565cc21cd28b4ee6bb5ba83c5270c032", "path": [ "565cc21cd28b4ee6bb5ba83c5270c032", "6178647ca8d14dc09370f6c1b7ed2fd6" ], "instruction": "Find the table.", "instr_encoding": [ 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"aebb1de49d21485e8bef7633dfb58761", "565cc21cd28b4ee6bb5ba83c5270c032", "6178647ca8d14dc09370f6c1b7ed2fd6" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "565cc21cd28b4ee6bb5ba83c5270c032", "aebb1de49d21485e8bef7633dfb58761", "86d342c576ff46a9828d2ba377cc8cd5", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "565cc21cd28b4ee6bb5ba83c5270c032", "6178647ca8d14dc09370f6c1b7ed2fd6" ], "refined_path": [ "97ed68de989e44fdaf2d9b949898fab6", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", "aebb1de49d21485e8bef7633dfb58761", "565cc21cd28b4ee6bb5ba83c5270c032", [ "aebb1de49d21485e8bef7633dfb58761", "86d342c576ff46a9828d2ba377cc8cd5", "0b02e18654324edd8d74c078b66bfb20", "86d342c576ff46a9828d2ba377cc8cd5", 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